Move rapier.js into this monorepo

.github/workflows/typescript-bindings.yml

@@ -0,0 +1,184 @@
+name: TypeScript bindings
+
+on:
+    push:
+        branches: [master]
+        paths:
+            - "typescript/**"
+            - ".github/workflows/typescript-bindings.yml"
+    pull_request:
+        branches: [master]
+        paths:
+            - "typescript/**"
+            - ".github/workflows/typescript-bindings.yml"
+    workflow_dispatch:
+
+env:
+    CARGO_TERM_COLOR: always
+
+# The JS/Wasm bindings live under `typescript/`, which is a self-contained Cargo
+# workspace (it pulls `rapier2d`/`rapier3d` from crates.io, not from the crates
+# in this repo). Every step therefore runs inside that directory.
+
+concurrency:
+    group: typescript-bindings-${{ github.ref }}
+    cancel-in-progress: ${{ github.ref != 'refs/heads/master' }}
+
+jobs:
+    check-fmt:
+        runs-on: ubuntu-latest
+        defaults:
+            run:
+                working-directory: typescript
+        steps:
+            - uses: actions/checkout@v4
+            - uses: actions/setup-node@v4
+              with:
+                  node-version: "22.x"
+            - run: npm ci
+            - name: Check formatting
+              run: npm run fmt -- --check
+            - name: Check Rust formatting
+              run: cargo fmt -- --check
+    build:
+        strategy:
+            matrix:
+                os: [ubuntu-latest, macos-latest]
+        runs-on: ${{ matrix.os }}
+        defaults:
+            run:
+                working-directory: typescript
+        env:
+            RUSTFLAGS: -D warnings
+        steps:
+            - uses: actions/checkout@v4
+            - uses: actions/cache@v4
+              with:
+                  path: |
+                      ~/.cargo/bin/
+                      ~/.cargo/registry/index/
+                      ~/.cargo/registry/cache/
+                      ~/.cargo/git/db/
+                      typescript/target/
+                  key: ${{ runner.os }}-cargo-js-${{ hashFiles('typescript/builds/prepare_builds/templates/Cargo.toml.tera') }}
+                  restore-keys: |
+                      ${{ runner.os }}-cargo-js-
+            - run: npm ci;
+            - name: Prepare no-compat builds
+              run: |
+                  ./builds/prepare_builds/prepare_all_projects.sh
+            - name: Build all no-compat projects
+              run: |
+                  ./builds/prepare_builds/build_all_projects.sh
+            # Install dependencies to check simd for builds
+            - name: Install wabt
+              run: |
+                  sudo apt install wabt;
+              if: matrix.os == 'ubuntu-latest'
+            - name: Install wabt
+              run: |
+                  brew install wabt;
+              if: matrix.os == 'macos-latest'
+            # Check simd for rust builds
+            - name: Check 2d simd rust build
+              run: |
+                  if ! wasm-objdump -d builds/rapier2d-simd/pkg/rapier_wasm2d_bg.wasm | grep :\\sfd ; then
+                    >&2 echo "ERROR: 2d simd compat build does not include simd opcode prefix." && exit 1
+                  fi
+            - name: Check 3d simd compat build
+              run: |
+                  if ! wasm-objdump -d builds/rapier3d-simd/pkg/rapier_wasm3d_bg.wasm | grep :\\sfd ; then
+                    >&2 echo "ERROR: 3d simd compat build does not include simd opcode prefix." && exit 1
+                  fi
+            - uses: actions/upload-artifact@v4
+              with:
+                  name: pkg no-compat ${{ matrix.os }}
+                  path: |
+                      typescript/builds/*/pkg
+                  overwrite: true
+    build-compat:
+        strategy:
+            matrix:
+                os: [ubuntu-latest, macos-latest]
+        runs-on: ${{ matrix.os }}
+        defaults:
+            run:
+                working-directory: typescript
+        env:
+            RUSTFLAGS: -D warnings
+        steps:
+            - uses: actions/checkout@v4
+            - uses: actions/cache@v4
+              with:
+                  path: |
+                      ~/.cargo/bin/
+                      ~/.cargo/registry/index/
+                      ~/.cargo/registry/cache/
+                      ~/.cargo/git/db/
+                      typescript/target/
+                  key: ${{ runner.os }}-cargo-js-${{ hashFiles('typescript/builds/prepare_builds/templates/Cargo.toml.tera') }}
+                  restore-keys: |
+                      ${{ runner.os }}-cargo-js-
+            - run: npm ci;
+            - name: Prepare compat builds
+              run: |
+                  ./builds/prepare_builds/prepare_all_projects.sh
+            - name: Build rapier-compat
+              run: |
+                  cd rapier-compat;
+                  npm ci;
+                  npm run build;
+                  npm run test;
+            # Install dependencies to check simd for builds
+            - name: Install wabt
+              run: |
+                  sudo apt install wabt;
+              if: matrix.os == 'ubuntu-latest'
+            - name: Install wabt
+              run: |
+                  brew install wabt;
+              if: matrix.os == 'macos-latest'
+            # Check simd for compat builds
+            - name: Check 2d simd compat build
+              run: |
+                  if ! wasm-objdump -d rapier-compat/builds/2d-simd/pkg/rapier_wasm2d_bg.wasm | grep :\\sfd ; then
+                    >&2 echo "ERROR: 2d simd compat build does not include simd opcode prefix." && exit 1;
+                  fi
+            - name: Check 3d simd compat build
+              run: |
+                  if ! wasm-objdump -d rapier-compat/builds/3d-simd/pkg/rapier_wasm3d_bg.wasm | grep :\\sfd ; then
+                    >&2 echo "ERROR: 3d simd compat build does not include simd opcode prefix." && exit 1;
+                  fi
+            # Upload
+            - uses: actions/upload-artifact@v4
+              with:
+                  name: pkg compat ${{ matrix.os }}
+                  path: |
+                      typescript/rapier-compat/builds/*/pkg
+                  overwrite: true
+    publish:
+        runs-on: ubuntu-latest
+        needs: [build, build-compat]
+        if: github.ref == 'refs/heads/master'
+        defaults:
+            run:
+                working-directory: typescript
+        steps:
+            - uses: actions/checkout@v4
+            - uses: actions/download-artifact@v4
+              with:
+                  name: pkg no-compat ubuntu-latest
+                  path: typescript/builds
+            - uses: actions/download-artifact@v4
+              with:
+                  name: pkg compat ubuntu-latest
+                  path: typescript/rapier-compat/builds
+            - uses: actions/setup-node@v4
+              with:
+                  node-version: "22.x"
+                  registry-url: "https://registry.npmjs.org"
+            - name: Publish projects
+              run: |
+                  ./publish_all_canary.sh
+              env:
+                  NODE_AUTH_TOKEN: ${{ secrets.NPM_TOKEN }}

.typos.toml

@@ -30,6 +30,8 @@ Shepperd = "Shepperd"
 # with `bb`) and `typ` (a "type" value — `type` is reserved in Rust/Python).
 ba = "ba"
 typ = "typ"
+# Voxel grid coordinate index in the JS bindings, paired with `ix`/`iz`.
+iy = "iy"
 # Template mesh data in the testbed instancer: `tpos`/`tnrm`/`tidx`
 # (template positions/normals/indices). Only `tpos` collides with a word.
 tpos = "tpos"

Cargo.toml

@@ -39,6 +39,9 @@ default-members = [
     "crates/mjcf-rs",
     "crates/rapier3d-mjcf",
 ]
+# `typescript/` is the JS/Wasm bindings' own Cargo workspace; keep it out of
+# this one so root-level `cargo` commands never try to absorb its crates.
+exclude = ["typescript"]
 resolver = "2"
 
 [workspace.package]

typescript/.gitignore

@@ -0,0 +1,27 @@
+# Ignore rules specific to the TypeScript/Wasm bindings. Generic entries
+# (node_modules, target, .idea, .DS_Store) already live in the repository-root
+# .gitignore and are not repeated here.
+
+# The root .gitignore excludes `package-lock.json`, but the JS bindings must
+# commit it: `npm ci` (used throughout the JS CI) requires the lockfile. The
+# Rust `Cargo.lock` stays ignored (matching the repo root): the workspace's only
+# members are the `prepare_builds`-generated crates, so a committed lock would
+# just churn with generated entries; CI regenerates it.
+!package-lock.json
+
+**/*.rs.bk
+dist
+pkg
+gen2d/
+gen3d/
+docs
+*.swp
+*.d.ts
+
+# Per-target crates generated by the `prepare_builds` crate; only the
+# generator itself is tracked.
+builds/*
+!builds/prepare_builds
+
+# Compat package's generated wasm builds.
+rapier-compat/builds/

typescript/.prettierignore

@@ -0,0 +1,7 @@
+pkg
+gen2d
+gen3d
+docs
+target
+**/CHANGELOG.md
+**/README.md

typescript/.prettierrc

@@ -0,0 +1,5 @@
+{
+    "tabWidth": 4,
+    "bracketSpacing": false,
+    "trailingComma": "all"
+}