feat(rapier): deprecate erp; add contactNaturalFrequency

Author: nartc

libs/core/src/lib/utils/object-events.ts

@@ -65,7 +65,7 @@ export const NgtObjectEventsOutputs = [
 
 /**
  * @deprecated Use NgtObjectEventsInputs and NgtObjectEventsOutputs instead along with NgtObjectEvents
- * @since 2.5.3. Will be removed in 3.0.0
+ * @since 2.6.0 Will be removed in 3.0.0
  */
 export const NgtObjectEventsHostDirective = {
 	directive: NgtObjectEvents,

libs/rapier/src/lib/physics.ts

@@ -40,6 +40,7 @@ const defaultOptions: NgtrPhysicsOptions = {
 	predictionDistance: 0.002,
 	minIslandSize: 128,
 	maxCcdSubsteps: 1,
+	contactNaturalFrequency: 30,
 	erp: 0.8,
 	lengthUnit: 1,
 	colliders: 'cuboid',
@@ -97,7 +98,7 @@ export class NgtrPhysics {
 	private minIslandSize = pick(this.options, 'minIslandSize');
 	private maxCcdSubsteps = pick(this.options, 'maxCcdSubsteps');
 	private predictionDistance = pick(this.options, 'predictionDistance');
-	private erp = pick(this.options, 'erp');
+	private contactNaturalFrequency = pick(this.options, 'contactNaturalFrequency');
 	private lengthUnit = pick(this.options, 'lengthUnit');
 	private timeStep = pick(this.options, 'timeStep');
 	private interpolate = pick(this.options, 'interpolate');
@@ -180,11 +181,7 @@ export class NgtrPhysics {
 		world.proxy.integrationParameters.minIslandSize = this.minIslandSize();
 		world.proxy.integrationParameters.maxCcdSubsteps = this.maxCcdSubsteps();
 		world.proxy.integrationParameters.normalizedPredictionDistance = this.predictionDistance();
-		/**
-		 * NOTE: we don't know if this is the correct way to set for contact_natural_frequency or not.
-		 * but at least, it gets the `contact_erp` value to be very close with setting `erp`
-		 */
-		world.proxy.integrationParameters.contact_natural_frequency = this.erp() * 1_000;
+		world.proxy.integrationParameters.contact_natural_frequency = this.contactNaturalFrequency();
 		world.proxy.lengthUnit = this.lengthUnit();
 	}
 

libs/rapier/src/lib/types.ts

@@ -78,10 +78,25 @@ export interface NgtrPhysicsOptions {
 	 */
 	maxCcdSubsteps: number;
 
+	/**
+	 * Directly affects the erp (Error Reduction Parameter) which is the proportion (between 0 and 1) of the positional error to be corrected at each time step.
+	 *
+	 * The higher the value, the more the physics engine will try to correct the positional error.
+	 *
+	 * This property is currently undocumented in rapier docs.
+	 *
+	 * @defaultValue 30
+	 */
+	contactNaturalFrequency: number;
+
 	/**
 	 * The Error Reduction Parameter in between 0 and 1, is the proportion of the positional error to be corrected at each time step.
 	 *
 	 * @defaultValue 0.8
+	 * @deprecated This is a noop. Use `contactNaturalFrequency` instead
+	 * @since 2.6.0 Will be removed in 3.0.0
+	 * @see {contactNaturalFrequency}
+	 * @see https://github.com/dimforge/rapier/pull/651 for more information about contactNaturalFrequency
 	 */
 	erp: number;