[DennisSmolek]

Integration branch for @react-three/rapier 3.0.0-alpha.0. It combines the reviewed 3.0 PRs with the cross-PR wiring they need, so next gets one consistent, green state.

Merged PRs

Merged in this order with git merge --no-ff, so each PR's commits and history are kept:

1. chore: 3.0 foundation (yarn 4, r3f v10 stack, rollup build, CI, alpha prerelease) #787 feat/3.0-foundation: yarn 4, r3f 10 canary, three 0.186, React 19.2, rollup build with an exports map, CI, changesets alpha prerelease
2. feat!: step physics in the r3f v10 scheduler's fixed-step phase #788 feat/v10-scheduler-stepping: physics stepping on the r3f v10 scheduler's fixed-step phase
3. fix: 3.0 bug fixes batch #785 fix/3.0-bugfixes: bug fixes batch
4. feat: kinematic character controller (useCharacterController + <CharacterController>) #783 feat/character-controller: kinematic character controller
5. feat: soft bodies (SoftBody, useSoftBody) #786 feat/soft-bodies: <SoftBody> / useSoftBody
6. docs: pmndrs/docs site, 3.0 migration guide and FAQ #784 docs/3.0-docs-site: pmndrs/docs site, migration guide, FAQ
7. feat(demo): WebGPU/WebGL toggle, auto-discovered examples, vehicle example, #666 fixes #790 feat/demo-v10-webgpu: demo WebGPU/WebGL toggle, auto-discovered examples, vehicle example (added to the scope after the original plan)

Merging this PR merges all seven. Their head commits are contained in this branch, so GitHub marks each of them as merged when this lands. That only works with a merge commit. Do not squash or rebase, because that would also invalidate the SHA in .git-blame-ignore-revs.

Integration commits (on top of the merges)

• test(soft-bodies): await create() in the test setup (6f38bcf): follow-up fix for the feat: soft bodies (SoftBody, useSoftBody) #786 merge. The setup raced create() against the mount callback, which leaves overlapping act() scopes. With feat!: step physics in the r3f v10 scheduler's fixed-step phase #788's deferred world teardown, the StrictMode test failed.

• feat(character-controller): use the (world, dt) step callback contract (c009307):

  • <CharacterController> uses the dt argument of WorldStepCallback.
  • The unreleased getStepDt / world.timestep fallback is removed.
  • The docs and demo examples use (_world, dt), and the vehicle demo passes dt to updateVehicle.
  • The it.todo("is framerate independent with timeStep='vary'") test is now enabled. It covers steady 30 and 144 fps plus a jittery 30/120 fps mix, and checks the per-callback dt. It fails when the controller reads world.timestep.

• feat(soft-bodies): publish the subpath entry and sync once per frame (37fbf0d):

  • @react-three/rapier/soft-bodies is a real subpath export (exports, files, typesVersions), built to dist/soft-bodies.*.
  • Soft-bodies sources now import core through ../index (before: ../hooks/hooks). The bundle therefore imports useRapier from @react-three/rapier instead of inlining a second rapier context.
  • New internal frameSyncCallbacks on the context. syncMeshes(alpha) calls them after the rigid bodies, and resetInterpolation forwards to them. Returning true keeps a demand frameloop ticking.
  • Soft bodies capture() their particles after every substep and write the geometry once per frame with sync(alpha). Tears are still handled per substep.
  • New test: at alpha 0.5, vertices attached to an interpolated kinematic body keep their simulated offset from the rendered body. The old per-step sync fails it by half a step.
  • New test: the subpath resolves to the same source modules as the main entry.

• docs: document the merged 3.0 APIs and complete the migration guide (17b8507):

  • All TODO admonitions are replaced: update loop and stepping, step hooks (world, dt), maxSubSteps, debug/WebGPU, performance, FAQ (Presentation Controls doesn't work the same #36).
  • New api/character-controller and api/soft-bodies pages.
  • advanced/migration.mdx is completed from every changeset plus feat!: step physics in the r3f v10 scheduler's fixed-step phase #788's migration notes.
  • No TODOs remain.

• style: format with prettier 3 (8d7b56b): whole-repo prettier --write .. Only 8 stragglers changed, because the PRs had already formatted what they touched.

• chore: ignore the prettier 3 reformat in git blame (e7dc1da): adds .git-blame-ignore-revs.

• fix: resolve the remaining eslint errors (f828e75). Real bugs:

  • missing keys on array elements (collision-events explosions, compound collider nodes)
  • lookAt(undefined) through ?.…! in the stuttering demo
  • async Promise executors in physics.test that raced create()

  Cleanups: @ts-ignore → @ts-expect-error with a reason, or removed where nothing was suppressed. Function → () => T. prefer-const.

• ci: make the lint and format job blocking (58a8424): removes continue-on-error, and DEVELOPMENT.md is updated to match.

Conflict resolution

• fix: 3.0 bug fixes batch #785 into chore: 3.0 foundation (yarn 4, r3f v10 stack, rollup build, CI, alpha prerelease) #787/feat!: step physics in the r3f v10 scheduler's fixed-step phase #788
  • In both package.jsons, I kept the foundation's yarn 4 / exports setup and applied fix: 3.0 bug fixes batch #785's removal of three-stdlib. Nothing imports it anymore, including the demo, and it is gone from yarn.lock.
  • In demo/src/App.tsx, I kept fix: 3.0 bug fixes batch #785's ComponentRef<typeof OrbitControls> typing.
  • yarn.lock was regenerated.
• feat: soft bodies (SoftBody, useSoftBody) #786
  • Physics.tsx: I kept feat!: step physics in the r3f v10 scheduler's fixed-step phase #788's structure. feat!: step physics in the r3f v10 scheduler's fixed-step phase #788 already carried softBodyTearCallbacks and the per-substep tear drain verbatim, so the result is feat!: step physics in the r3f v10 scheduler's fixed-step phase #788's file, with the duplicated SoftBodyTearCallback type removed.
  • demo/vite.config.mts and root tsconfig.json: I kept the foundation's generic @react-three/rapier/<sub> → src/<sub>/index.ts aliases and paths, and dropped feat: soft bodies (SoftBody, useSoftBody) #786's temporary soft-bodies-only alias and paths entry.
• docs: pmndrs/docs site, 3.0 migration guide and FAQ #784: the root package.json scripts now hold both sets (yarn 4 scripts plus docs / docs:site:build).
• feat(demo): WebGPU/WebGL toggle, auto-discovered examples, vehicle example, #666 fixes #790: demo/src/App.tsx takes feat(demo): WebGPU/WebGL toggle, auto-discovered examples, vehicle example, #666 fixes #790's version (auto-discovery, renderer toggle, GlShim). I dropped the manual routes that feat: kinematic character controller (useCharacterController + <CharacterController>) #783 and feat: soft bodies (SoftBody, useSoftBody) #786 had added. The examples now register automatically as character-controller and soft-bodies/{cloth,jelly,rope}.

Verification (fresh yarn install --immutable)

• yarn build ✅ (core now emits index.* and soft-bodies.*)
• yarn typecheck ✅ and yarn workspace demo typecheck ✅
• yarn test: 124/124 passed, 3 consecutive runs (no todos left)
• yarn check:packages (publint --strict + attw --pack) ✅. All resolution modes are green for ., ./soft-bodies and the addons.
• yarn demo:build ✅
• yarn lint: 0 errors (140 warnings). yarn format:check ✅
• Docs: npx @pmndrs/docs@4 build docs builds 23 pages ✅
• yarn changeset version dry run gives @react-three/rapier 3.0.0-alpha.0 and @react-three/rapier-addons 6.0.0-alpha.0. I reverted it; the release workflow does the bump.
• Every commit except one passed the local pre-commit hook (typecheck, build, publint/attw, vitest). The exception is merge b0000d4 (feat: soft bodies (SoftBody, useSoftBody) #786), committed with --no-verify: its StrictMode test failure is the breakage fixed in the very next commit (6f38bcf).

Browser smoke test of the integrated demo

I ran the vite dev server and drove headless Chrome through playwright-core with WebGPU enabled (a real WebGPU adapter). It visited every auto-discovered route with ?renderer=webgpu and ?renderer=webgl, collecting console errors, page errors, HTTP errors and screenshots. Some routes also got interactions: keyboard driving, and toggling Debug or Interpolate 5×.

No errors on any route. The only console output was the expected noise:

• drei's RGBELoader deprecation (both renderers)
• r3f's "WebGlRenderer usage is deprecated" notice (WebGL)
• the favicon 404 during the interaction pass

The intermittent WebGPU Destroyed texture "PMREM.cubeUv" did not show up in this run. In the screenshots, the character controller moves and collects coins, the vehicle drives, and the cloth hangs from its bar with debug lines on both renderers.

Example	WebGPU	WebGL
active-collision-types	ok	ok
all-colliders	ok	ok
all-shapes	ok	ok
api-usage	ok	ok
attractors	ok	ok
car	ok	ok
character-controller (driven: D+W, jump)	ok	ok
cluster	ok	ok
colliders	ok	ok
collision-events	ok	ok
components	ok	ok
contact-force-events	ok	ok
contact-skin	ok	ok
cradle (Debug toggled 5x)	ok	ok
damping	ok	ok
dynamic-type-change	ok	ok
immutable-props	ok	ok
instanced-meshes	ok	ok
instances-meshes-compound	ok	ok
joints	ok	ok
kinematics	ok	ok
locked-transforms	ok	ok
manual-step	ok	ok
mesh-collider-test	ok	ok
one-way-platform	ok	ok
performance	ok	ok
plinko (Interpolate toggled 5x)	ok	ok
rope-joint	ok	ok
sensors	ok	ok
snapshot	ok	ok
soft-bodies/cloth (Debug toggled 5x)	ok	ok
soft-bodies/jelly (Debug toggled 5x)	ok	ok
soft-bodies/rope (Debug toggled 5x)	ok	ok
spring	ok	ok
stuttering	ok	ok
transforms	ok	ok
vehicle (driven: W)	ok	ok

Known gaps / decisions for the maintainer

• Addons version: the major changeset takes @react-three/rapier-addons from 5.0.0 to 6.0.0-alpha.0, not 3.0. Keep it, or add a fixed / manual version if addons should track core.

• Lint warnings: 140 remain (91 no-unused-vars, 49 react-hooks/exhaustive-deps). They are non-fatal and I did not change them, because "fixing" hook deps can change behaviour.

• Soft bodies:

  • rapier:late re-expresses rigid bodies when an ancestor moves during update. Soft bodies are not included, so a cloth whose parent moves after the sync catches up one frame later. This is documented.
  • feat: soft bodies (SoftBody, useSoftBody) #786's own known gaps still apply: no soft body collision events; volume skins don't follow torn-off pieces; cutSoftBody on trimesh cloth may not disconnect pieces; prop changes after mount are ignored.

• Docs: two pre-existing anchors (from docs: pmndrs/docs site, 3.0 migration guide and FAQ #784) work on GitHub but not on the built site, because the pmndrs/docs slugger keeps ? and ,:

  • faq#how-do-i-get-the-penetration-depth-of-a-collision
  • basic-usage#moving-things-around-and-applying-forces

  The readme's "3.0 is in development" banner is unchanged.

• r3f canary pin: r3f stays pinned to 10.0.0-canary.a056612 (from chore: 3.0 foundation (yarn 4, r3f v10 stack, rollup build, CI, alpha prerelease) #787) until alpha.6 ships.

• Smoke test limits: it was automated and headless. Feel and visual quality on a real GPU, e.g. interpolation smoothness, were not judged by a human.

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🦋 Changeset detected

Latest commit: 58a8424

The changes in this PR will be included in the next version bump.

This PR includes changesets to release 2 packages

Name	Type
@react-three/rapier	Major
@react-three/rapier-addons	Major

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