rapier-crash.ts

function test() {
  const rapierEventQueue = new EventQueue(true);

  let world = new World({x: 0.0, y: 0, z: 0.0});

  // create the kinematic controller

  const characterController = createObjectFromDesc(
    world,
    {
      status: 2,
      translation: {x: 1.4591663825619798, y: 1.375, z: -2.1640342585282166},
      rotation: {x: 0, y: 0, z: 0, w: 1},
      gravityScale: 1,
      linvel: {x: 0, y: 0, z: 0},
      mass: 10,
      centerOfMass: {x: 0, y: 0, z: 0},
      translationsEnabledX: true,
      translationsEnabledY: true,
      angvel: {x: 0, y: 0, z: 0},
      principalAngularInertia: {x: 0, y: 0, z: 0},
      angularInertiaLocalFrame: {x: 0, y: 0, z: 0, w: 1},
      translationsEnabledZ: true,
      rotationsEnabledX: true,
      rotationsEnabledY: true,
      rotationsEnabledZ: true,
      linearDamping: 0,
      angularDamping: 0,
      canSleep: true,
      ccdEnabled: false,
      dominanceGroup: 0,
    },
    {
      shape: new Cuboid(0.5, 0.5, 0.5),
      useMassProps: false,
      density: 1,
      friction: 0,
      restitution: 0,
      rotation: {x: 0, y: 0, z: 0, w: 1},
      translation: {x: 0, y: 0, z: 0},
      isSensor: false,
      collisionGroups: 4294967295,
      solverGroups: 4294967295,
      frictionCombineRule: 0,
      restitutionCombineRule: 0,
      activeCollisionTypes: 60943,
      activeEvents: 1,
      activeHooks: 0,
      mass: 0,
      centerOfMass: {x: 0, y: 0, z: 0},
      principalAngularInertia: {x: 0, y: 0, z: 0},
      angularInertiaLocalFrame: {x: 0, y: 0, z: 0, w: 1},
    }
  );
  let rigidBody = world.getRigidBody(characterController.bodyHandle);

  // creat the kinematic pendant we will collide with

  const pendant = createObjectFromDesc(
    world,
    {
      status: 2,
      translation: {x: 0.6875, y: 1.375, z: 2.875},
      rotation: {x: 0, y: 0, z: 0, w: 1},
      gravityScale: 1,
      linvel: {x: 0, y: 0, z: 0},
      mass: 10,
      centerOfMass: {x: 0, y: 0, z: 0},
      translationsEnabledX: true,
      translationsEnabledY: true,
      angvel: {x: 0, y: 0, z: 0},
      principalAngularInertia: {x: 0, y: 0, z: 0},
      angularInertiaLocalFrame: {x: 0, y: 0, z: 0, w: 1},
      translationsEnabledZ: true,
      rotationsEnabledX: true,
      rotationsEnabledY: true,
      rotationsEnabledZ: true,
      linearDamping: 0,
      angularDamping: 0,
      canSleep: true,
      ccdEnabled: false,
      dominanceGroup: 0,
    },
    {
      shape: new Cuboid(0.5, 0.5, 0.1875),
      useMassProps: false,
      density: 1,
      friction: 0,
      restitution: 0,
      rotation: {x: 0, y: 0, z: 0, w: 1},
      translation: {x: 0, y: 0, z: 0},
      isSensor: true,
      collisionGroups: 131071,
      solverGroups: 4294967295,
      frictionCombineRule: 0,
      restitutionCombineRule: 0,
      activeCollisionTypes: 60943,
      activeEvents: 1,
      activeHooks: 0,
      mass: 0,
      centerOfMass: {x: 0, y: 0, z: 0},
      principalAngularInertia: {x: 0, y: 0, z: 0},
      angularInertiaLocalFrame: {x: 0, y: 0, z: 0, w: 1},
    }
  );

  function moveCharacterController() {
    const collider = world.getCollider(characterController.colliderHandle);
    let foundCollisionGroup = collider.collisionGroups();

    /* THIS IS THE KEY */

    // we reset the collision group

    const group = foundCollisionGroup;
    collider.setCollisionGroups(0b0000_0000_0000_0000_0000_0000_0000_0000);
    collider.setCollisionGroups(group);
    /* THIS IS THE KEY */

    rigidBody = world.getRigidBody(characterController.bodyHandle);

    // we move the body forward
    rigidBody.setNextKinematicTranslation(
      new Vector3(rigidBody.translation().x, rigidBody.translation().y, rigidBody.translation().z + 1 / 16)
    );
    rigidBody.setNextKinematicRotation(rigidBody.rotation());
  }

  let hasCollide = false;
  while (!hasCollide) {
    // move forward until it collides with the pendant
    moveCharacterController();

    world.step(rapierEventQueue);
    rapierEventQueue.drainCollisionEvents((handle1, handle2, started) => {
      hasCollide = true;
    });
  }
  // when it does, create a shield

  const shield = createObjectFromDesc(
    world,
    {
      status: 2,
      translation: {x: 0, y: 0, z: 0},
      rotation: {x: 0, y: 0, z: 0, w: 1},
      gravityScale: 1,
      linvel: {x: 0, y: 0, z: 0},
      mass: 10,
      centerOfMass: {x: 0, y: 0, z: 0},
      translationsEnabledX: true,
      translationsEnabledY: true,
      angvel: {x: 0, y: 0, z: 0},
      principalAngularInertia: {x: 0, y: 0, z: 0},
      angularInertiaLocalFrame: {x: 0, y: 0, z: 0, w: 1},
      translationsEnabledZ: true,
      rotationsEnabledX: true,
      rotationsEnabledY: true,
      rotationsEnabledZ: true,
      linearDamping: 0,
      angularDamping: 0,
      canSleep: true,
      ccdEnabled: false,
      dominanceGroup: 0,
    },
    {
      shape: new Cuboid(0.5, 0.5, 0.1875),
      useMassProps: false,
      density: 1,
      friction: 0,
      restitution: 0,
      rotation: {x: 0, y: 0, z: 0, w: 1},
      translation: {x: 0, y: 0, z: 0},
      isSensor: false,
      collisionGroups: 4294967295,
      solverGroups: 4294967295,
      frictionCombineRule: 0,
      restitutionCombineRule: 0,
      activeCollisionTypes: 60943,
      activeEvents: 1,
      activeHooks: 0,
      mass: 0,
      centerOfMass: {x: 0, y: 0, z: 0},
      principalAngularInertia: {x: 0, y: 0, z: 0},
      angularInertiaLocalFrame: {x: 0, y: 0, z: 0, w: 1},
    }
  );
  // move again
  moveCharacterController();

  // move the shield

  const shieldBody = world.getRigidBody(shield.bodyHandle);
  shieldBody.setNextKinematicTranslation({x: 1.459166407585144, y: 1.375, z: 2.023465633392334});
  shieldBody.setNextKinematicRotation(shieldBody.rotation());

  // this step will crash

  world.step(rapierEventQueue);
}

function createObjectFromDesc(world: World, rigidBodyDesc: any, colliderDesc: any) {
  const body = world.createRigidBody(rigidBodyDesc);
  const collider = world.createCollider(colliderDesc, body.handle);
  return {bodyHandle: body.handle, colliderHandle: collider.handle};
}