diff --git a/copy_docs.sh b/copy_docs.sh
index fc522d0..2f752bb 100755
--- a/copy_docs.sh
+++ b/copy_docs.sh
@@ -1,4 +1,9 @@
 #! /bin/sh
 
-cp -r ~/work/rapier.js/rapier3d/docs/* static/javascript3d/.
-cp -r ~/work/rapier.js/rapier2d/docs/* static/javascript2d/.
+rm -rf static/javascript3d
+mkdir static/javascript3d
+cp -r ../rapier.js/builds/rapier3d/docs/* static/javascript3d/.
+
+rm -rf static/javascript2d
+mkdir static/javascript2d
+cp -r ../rapier.js/builds/rapier2d/docs/* static/javascript2d/.
diff --git a/static/javascript2d/assets/icons.css b/static/javascript2d/assets/icons.css
deleted file mode 100644
index 776a356..0000000
--- a/static/javascript2d/assets/icons.css
+++ /dev/null
@@ -1,1043 +0,0 @@
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\ No newline at end of file
diff --git a/static/javascript2d/assets/widgets.png b/static/javascript2d/assets/widgets.png
deleted file mode 100644
index c738053..0000000
Binary files a/static/javascript2d/assets/widgets.png and /dev/null differ
diff --git a/static/javascript2d/assets/widgets@2x.png b/static/javascript2d/assets/widgets@2x.png
deleted file mode 100644
index 4bbbd57..0000000
Binary files a/static/javascript2d/assets/widgets@2x.png and /dev/null differ
diff --git a/static/javascript2d/classes/Ball.html b/static/javascript2d/classes/Ball.html
index f91716b..76bcf52 100644
--- a/static/javascript2d/classes/Ball.html
+++ b/static/javascript2d/classes/Ball.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Ball</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:139</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:140</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -72,7 +72,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="Ball.html" class="tsd-signature-type" data-tsd-kind="Class">Ball</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:149</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:150</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
@@ -81,13 +81,13 @@ <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Per
 <div class="tsd-comment tsd-typography"><p>The balls radius.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:144</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:145</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Ball" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Ball</a><span class="tsd-signature-symbol"> = ShapeType.Ball</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:140</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:141</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -189,7 +189,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -317,7 +317,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:150</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:151</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/Capsule.html b/static/javascript2d/classes/Capsule.html
index 72a1e1d..1ba2039 100644
--- a/static/javascript2d/classes/Capsule.html
+++ b/static/javascript2d/classes/Capsule.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Capsule</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:209</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:210</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -77,7 +77,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="Capsule.html" class="tsd-signature-type" data-tsd-kind="Class">Capsule</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:224</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:225</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfHeight" class="tsd-anchor"></a>
@@ -86,20 +86,20 @@ <h3 class="tsd-anchor-link"><span>half<wbr/>Height</span><a href="#halfHeight" a
 <div class="tsd-comment tsd-typography"><p>The capsule&#39;s half height, along the <code>y</code> axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:218</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:219</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">radius<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The radius of the capsule&#39;s basis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:214</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:215</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Capsule" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Capsule</a><span class="tsd-signature-symbol"> = ShapeType.Capsule</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:210</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:211</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -201,7 +201,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -329,7 +329,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:225</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:226</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/Collider.html b/static/javascript2d/classes/Collider.html
index cf873f3..aa707c3 100644
--- a/static/javascript2d/classes/Collider.html
+++ b/static/javascript2d/classes/Collider.html
@@ -55,7 +55,9 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="Collider.html#castRay" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Ray</span></a>
 <a href="Collider.html#castRayAndGetNormal" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span></a>
 <a href="Collider.html#castShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Shape</span></a>
+<a href="Collider.html#clearShapeCache" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>clear<wbr/>Shape<wbr/>Cache</span></a>
 <a href="Collider.html#collisionGroups" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>collision<wbr/>Groups</span></a>
+<a href="Collider.html#combineVoxelStates" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>combine<wbr/>Voxel<wbr/>States</span></a>
 <a href="Collider.html#contactCollider" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contact<wbr/>Collider</span></a>
 <a href="Collider.html#contactForceEventThreshold" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span></a>
 <a href="Collider.html#contactShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contact<wbr/>Shape</span></a>
@@ -78,6 +80,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="Collider.html#mass" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>mass</span></a>
 <a href="Collider.html#parent" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>parent</span></a>
 <a href="Collider.html#projectPoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>project<wbr/>Point</span></a>
+<a href="Collider.html#propagateVoxelChange" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>propagate<wbr/>Voxel<wbr/>Change</span></a>
 <a href="Collider.html#radius" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>radius</span></a>
 <a href="Collider.html#restitution" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>restitution</span></a>
 <a href="Collider.html#restitutionCombineRule" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>restitution<wbr/>Combine<wbr/>Rule</span></a>
@@ -108,6 +111,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="Collider.html#setSolverGroups" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Solver<wbr/>Groups</span></a>
 <a href="Collider.html#setTranslation" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Translation</span></a>
 <a href="Collider.html#setTranslationWrtParent" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Translation<wbr/>Wrt<wbr/>Parent</span></a>
+<a href="Collider.html#setVoxel" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Voxel</span></a>
 <a href="Collider.html#shapeType" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>shape<wbr/>Type</span></a>
 <a href="Collider.html#solverGroups" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>solver<wbr/>Groups</span></a>
 <a href="Collider.html#translation" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>translation</span></a>
@@ -185,7 +189,7 @@ <h3 class="tsd-anchor-link"><span>active<wbr/>Collision<wbr/>Types</span><a href
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/ActiveCollisionTypes.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveCollisionTypes</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:215</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:224</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="activeEvents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Events</span><a href="#activeEvents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -195,7 +199,7 @@ <h3 class="tsd-anchor-link"><span>active<wbr/>Events</span><a href="#activeEvent
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/ActiveEvents.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveEvents</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:203</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:212</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="activeHooks" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Hooks</span><a href="#activeHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -205,7 +209,7 @@ <h3 class="tsd-anchor-link"><span>active<wbr/>Hooks</span><a href="#activeHooks"
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/ActiveHooks.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveHooks</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:191</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:200</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Collider</span><a href="#castCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -228,7 +232,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5></li>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:422</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:479</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRay" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Ray</span><a href="#castRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -259,7 +263,7 @@ <h5>solid: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:454</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:511</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRayAndGetNormal" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span><a href="#castRayAndGetNormal" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -288,7 +292,7 @@ <h5>solid: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayIntersection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:466</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:523</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Shape</span><a href="#castShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -315,7 +319,21 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5></li>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:421</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:478</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="clearShapeCache" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>clear<wbr/>Shape<wbr/>Cache</span><a href="#clearShapeCache" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="clearShapeCache.clearShapeCache-1">clear<wbr/>Shape<wbr/>Cache<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#clearShapeCache.clearShapeCache-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Set the internal cached JS shape to null.</p>
+<p>This can be useful if you want to free some memory (assuming you are not
+holding any other references to the shape object), or in order to force
+the recalculation of the JS shape (the next time the <code>shape</code> getter is
+accessed) from the WASM source of truth.</p>
+</div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:86</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="collisionGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>collision<wbr/>Groups</span><a href="#collisionGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -325,7 +343,36 @@ <h3 class="tsd-anchor-link"><span>collision<wbr/>Groups</span><a href="#collisio
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:391</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:448</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="combineVoxelStates" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>combine<wbr/>Voxel<wbr/>States</span><a href="#combineVoxelStates" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="combineVoxelStates.combineVoxelStates-1">combine<wbr/>Voxel<wbr/>States<span class="tsd-signature-symbol">(</span>voxels2<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a>, shift_x<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shift_y<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#combineVoxelStates.combineVoxelStates-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>If this and <code>voxels2</code> are voxel colliders, this will ensure that a
+moving object transitioning across the boundaries of these colliders
+won’t suffer from the &quot;internal edges&quot; artifact.</p>
+<p>If the voxels in <code>voxels2</code> live in a different coordinate space from <code>this</code>,
+then the <code>shift_*</code> argument indicate the distance, in voxel units, between
+the origin of <code>this</code> to the origin of <code>voxels2</code>.</p>
+<p>This method is intended to be called once between all pairs of voxels
+colliders with intersecting domains or shared boundaries.</p>
+<p>If either voxels collider is then modified with <code>setVoxel</code>, the
+<code>propagateVoxelChange</code> method must be called to maintain the coupling
+between the voxels shapes after the modification.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>voxels2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li>
+<li>
+<h5>shift_x: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>shift_y: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:395</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Collider</span><a href="#contactCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -348,7 +395,7 @@ <h5>prediction: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeContact.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeContact</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:441</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:498</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactForceEventThreshold" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span><a href="#contactForceEventThreshold" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -358,7 +405,7 @@ <h3 class="tsd-anchor-link"><span>contact<wbr/>Force<wbr/>Event<wbr/>Threshold</
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:225</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:234</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Shape</span><a href="#contactShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -389,7 +436,7 @@ <h5>prediction: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeContact.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeContact</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:433</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:490</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactSkin" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Skin</span><a href="#contactSkin" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -400,7 +447,7 @@ <h3 class="tsd-anchor-link"><span>contact<wbr/>Skin</span><a href="#contactSkin"
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:179</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:188</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="containsPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contains<wbr/>Point</span><a href="#containsPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -417,7 +464,7 @@ <h5>point: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-t
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:401</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:458</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="density" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>density</span><a href="#density" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -427,7 +474,7 @@ <h3 class="tsd-anchor-link"><span>density</span><a href="#density" aria-label="P
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:379</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:436</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="finalizeDeserialization" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>finalize<wbr/>Deserialization</span><a href="#finalizeDeserialization" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -450,7 +497,7 @@ <h3 class="tsd-anchor-link"><span>friction</span><a href="#friction" aria-label=
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:371</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:428</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="frictionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>friction<wbr/>Combine<wbr/>Rule</span><a href="#frictionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -461,7 +508,7 @@ <h3 class="tsd-anchor-link"><span>friction<wbr/>Combine<wbr/>Rule</span><a href=
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-type" data-tsd-kind="Enumeration">CoefficientCombineRule</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:135</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:144</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="halfExtents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>half<wbr/>Extents</span><a href="#halfExtents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -473,7 +520,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:299</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:308</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="halfHeight" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>half<wbr/>Height</span><a href="#halfHeight" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -485,7 +532,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:332</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:341</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="heightfieldHeights" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>heightfield<wbr/>Heights</span><a href="#heightfieldHeights" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -499,7 +546,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">Float32Array</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:357</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:414</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="heightfieldScale" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>heightfield<wbr/>Scale</span><a href="#heightfieldScale" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -512,7 +559,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:363</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:420</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="indices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>indices</span><a href="#indices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -525,7 +572,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">Uint32Array</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:350</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:407</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectsRay" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersects<wbr/>Ray</span><a href="#intersectsRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -547,7 +594,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:420</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:477</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectsShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersects<wbr/>Shape</span><a href="#intersectsShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -564,7 +611,7 @@ <h5>shapePos2: <a href="../interfaces/Vector.html" class="tsd-signature-type" da
 <h5>shapeRot2: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:423</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:480</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="isEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>is<wbr/>Enabled</span><a href="#isEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -574,7 +621,7 @@ <h3 class="tsd-anchor-link"><span>is<wbr/>Enabled</span><a href="#isEnabled" ari
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:114</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:123</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="isSensor" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>is<wbr/>Sensor</span><a href="#isSensor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -584,7 +631,7 @@ <h3 class="tsd-anchor-link"><span>is<wbr/>Sensor</span><a href="#isSensor" aria-
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:94</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:103</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="isValid" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>is<wbr/>Valid</span><a href="#isValid" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -595,7 +642,7 @@ <h3 class="tsd-anchor-link"><span>is<wbr/>Valid</span><a href="#isValid" aria-la
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:82</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:91</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="mass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass</span><a href="#mass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -605,7 +652,7 @@ <h3 class="tsd-anchor-link"><span>mass</span><a href="#mass" aria-label="Permali
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:383</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:440</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="parent" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>parent</span><a href="#parent" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -615,7 +662,7 @@ <h3 class="tsd-anchor-link"><span>parent</span><a href="#parent" aria-label="Per
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:367</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:424</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -640,7 +687,42 @@ <h5>solid: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:412</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:469</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="propagateVoxelChange" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>propagate<wbr/>Voxel<wbr/>Change</span><a href="#propagateVoxelChange" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="propagateVoxelChange.propagateVoxelChange-1">propagate<wbr/>Voxel<wbr/>Change<span class="tsd-signature-symbol">(</span>voxels2<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a>, ix<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, iy<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shift_x<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shift_y<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#propagateVoxelChange.propagateVoxelChange-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>If this and <code>voxels2</code> are voxel colliders, and a voxel from <code>this</code> was
+modified with <code>setVoxel</code>, this will ensure that a
+moving object transitioning across the boundaries of these colliders
+won’t suffer from the &quot;internal edges&quot; artifact.</p>
+<p>The indices <code>ix, iy, iz</code> indicate the integer coordinates of the voxel in
+the local coordinate frame of <code>this</code>.</p>
+<p>If the voxels in <code>voxels2</code> live in a different coordinate space from <code>this</code>,
+then the <code>shift_*</code> argument indicate the distance, in voxel units, between
+the origin of <code>this</code> to the origin of <code>voxels2</code>.</p>
+<p>This method is intended to be called between <code>this</code> and all the other
+voxels colliders with a domain intersecting <code>this</code> or sharing a domain
+boundary. This is an incremental maintenance of the effect of
+<code>combineVoxelStates</code>.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>voxels2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li>
+<li>
+<h5>ix: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>iy: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>shift_x: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>shift_y: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:378</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -652,7 +734,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:310</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:319</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restitution" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restitution</span><a href="#restitution" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -662,7 +744,7 @@ <h3 class="tsd-anchor-link"><span>restitution</span><a href="#restitution" aria-
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:375</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:432</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restitutionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restitution<wbr/>Combine<wbr/>Rule</span><a href="#restitutionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -673,7 +755,7 @@ <h3 class="tsd-anchor-link"><span>restitution<wbr/>Combine<wbr/>Rule</span><a hr
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-type" data-tsd-kind="Enumeration">CoefficientCombineRule</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:147</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:156</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="rotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotation</span><a href="#rotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -683,7 +765,7 @@ <h3 class="tsd-anchor-link"><span>rotation</span><a href="#rotation" aria-label=
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:90</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:99</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundRadius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>round<wbr/>Radius</span><a href="#roundRadius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -695,7 +777,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:321</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:330</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveCollisionTypes" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Collision<wbr/>Types</span><a href="#setActiveCollisionTypes" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -712,7 +794,7 @@ <h5>activeCollisionTypes: <a href="../enums/ActiveCollisionTypes.html" class="ts
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:231</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:240</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveEvents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Events</span><a href="#setActiveEvents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -730,7 +812,7 @@ <h5>activeEvents: <a href="../enums/ActiveEvents.html" class="tsd-signature-type
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:211</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:220</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveHooks" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Hooks</span><a href="#setActiveHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -748,7 +830,7 @@ <h5>activeHooks: <a href="../enums/ActiveHooks.html" class="tsd-signature-type"
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:199</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:208</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setCollisionGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Collision<wbr/>Groups</span><a href="#setCollisionGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -767,7 +849,7 @@ <h5>groups: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:163</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:172</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setContactForceEventThreshold" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span><a href="#setContactForceEventThreshold" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -784,7 +866,7 @@ <h5>threshold: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:221</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:230</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setContactSkin" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Contact<wbr/>Skin</span><a href="#setContactSkin" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -802,7 +884,7 @@ <h5>thickness: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:187</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:196</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setDensity" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Density</span><a href="#setDensity" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -822,7 +904,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>density: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:242</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:251</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Enabled</span><a href="#setEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -839,7 +921,7 @@ <h5>enabled: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:110</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:119</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setFriction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Friction</span><a href="#setFriction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -858,7 +940,7 @@ <h5>friction: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:130</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:139</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setFrictionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Friction<wbr/>Combine<wbr/>Rule</span><a href="#setFrictionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -876,7 +958,7 @@ <h5>rule: <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-ty
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:142</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:151</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setHalfExtents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Half<wbr/>Extents</span><a href="#setHalfExtents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -893,7 +975,7 @@ <h5>newHalfExtents: <a href="../interfaces/Vector.html" class="tsd-signature-typ
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:305</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:314</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setHalfHeight" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Half<wbr/>Height</span><a href="#setHalfHeight" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -910,7 +992,7 @@ <h5>newHalfheight: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:338</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:347</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Mass</span><a href="#setMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -930,7 +1012,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>mass: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:253</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:262</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setMassProperties" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Mass<wbr/>Properties</span><a href="#setMassProperties" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -952,7 +1034,7 @@ <h5>centerOfMass: <a href="../interfaces/Vector.html" class="tsd-signature-type"
 <h5>principalAngularInertia: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:261</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:270</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRadius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Radius</span><a href="#setRadius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -969,7 +1051,7 @@ <h5>newRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:316</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:325</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRestitution" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Restitution</span><a href="#setRestitution" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -988,7 +1070,7 @@ <h5>restitution: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:122</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:131</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRestitutionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Restitution<wbr/>Combine<wbr/>Rule</span><a href="#setRestitutionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1006,7 +1088,7 @@ <h5>rule: <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-ty
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:154</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:163</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Rotation</span><a href="#setRotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1023,7 +1105,7 @@ <h5>angle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:281</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:290</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRotationWrtParent" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Rotation<wbr/>Wrt<wbr/>Parent</span><a href="#setRotationWrtParent" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1041,7 +1123,7 @@ <h5>angle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:289</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:298</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRoundRadius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Round<wbr/>Radius</span><a href="#setRoundRadius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1058,13 +1140,13 @@ <h5>newBorderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:327</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:336</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSensor" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Sensor</span><a href="#setSensor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
 <li class="tsd-signature tsd-anchor-link" id="setSensor.setSensor-1">set<wbr/>Sensor<span class="tsd-signature-symbol">(</span>isSensor<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setSensor.setSensor-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
 <li class="tsd-description">
-<div class="tsd-comment tsd-typography"><p>Sets whether or not this collider is a sensor.</p>
+<div class="tsd-comment tsd-typography"><p>Sets whether this collider is a sensor.</p>
 </div>
 <div class="tsd-parameters">
 <h4 class="tsd-parameters-title">Parameters</h4>
@@ -1075,7 +1157,7 @@ <h5>isSensor: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:99</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:108</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Shape</span><a href="#setShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1092,7 +1174,7 @@ <h5>shape: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class"
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:104</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:113</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSolverGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Solver<wbr/>Groups</span><a href="#setSolverGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1112,7 +1194,7 @@ <h5>groups: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:173</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:182</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setTranslation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Translation</span><a href="#setTranslation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1129,7 +1211,7 @@ <h5>tra: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:267</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:276</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setTranslationWrtParent" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Translation<wbr/>Wrt<wbr/>Parent</span><a href="#setTranslationWrtParent" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1147,7 +1229,32 @@ <h5>tra: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:275</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:284</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setVoxel" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Voxel</span><a href="#setVoxel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setVoxel.setVoxel-1">set<wbr/>Voxel<span class="tsd-signature-symbol">(</span>ix<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, iy<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, filled<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setVoxel.setVoxel-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>If this collider has a Voxels shape, this will mark the voxel at the
+given grid coordinates as filled or empty (depending on the <code>filled</code>
+argument).</p>
+<p>Each input value is assumed to be an integer.</p>
+<p>The operation is O(1), unless the provided coordinates are out of the
+bounds of the currently allocated internal grid in which case the grid
+will be grown automatically.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ix: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>iy: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>filled: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:359</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="shapeType" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>shape<wbr/>Type</span><a href="#shapeType" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1159,7 +1266,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/ShapeType.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ShapeType</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:294</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:303</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="solverGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>solver<wbr/>Groups</span><a href="#solverGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1169,7 +1276,7 @@ <h3 class="tsd-anchor-link"><span>solver<wbr/>Groups</span><a href="#solverGroup
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:395</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:452</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="translation" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1179,7 +1286,7 @@ <h3 class="tsd-anchor-link"><span>translation</span><a href="#translation" aria-
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:86</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:95</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1192,7 +1299,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">Float32Array</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:344</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:401</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="volume" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>volume</span><a href="#volume" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1202,7 +1309,7 @@ <h3 class="tsd-anchor-link"><span>volume</span><a href="#volume" aria-label="Per
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:387</li></ul></aside></li></ul></section></section></div>
+<li>Defined in geometry/collider.d.ts:444</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#clearShapeCache" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>clear<wbr/>Shape<wbr/>Cache</a></li>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#combineVoxelStates" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>combine<wbr/>Voxel<wbr/>States</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#contactCollider" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>contact<wbr/>Collider</a></li>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#propagateVoxelChange" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>propagate<wbr/>Voxel<wbr/>Change</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#radius" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>radius</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#restitution" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>restitution</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#restitutionCombineRule" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>restitution<wbr/>Combine<wbr/>Rule</a></li>
@@ -1295,6 +1405,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#setSolverGroups" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Solver<wbr/>Groups</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#setTranslation" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Translation</a></li>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#setVoxel" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Voxel</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#shapeType" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>shape<wbr/>Type</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#solverGroups" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>solver<wbr/>Groups</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#translation" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>translation</a></li>
diff --git a/static/javascript2d/classes/ColliderDesc.html b/static/javascript2d/classes/ColliderDesc.html
index a3d19f3..38d4782 100644
--- a/static/javascript2d/classes/ColliderDesc.html
+++ b/static/javascript2d/classes/ColliderDesc.html
@@ -20,7 +20,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">ColliderDesc</span></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:473</li></ul></aside>
+<li>Defined in geometry/collider.d.ts:530</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
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@@ -90,6 +90,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="ColliderDesc.html#segment" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>segment</span></a>
 <a href="ColliderDesc.html#triangle" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>triangle</span></a>
 <a href="ColliderDesc.html#trimesh" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>trimesh</span></a>
+<a href="ColliderDesc.html#voxels" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>voxels</span></a>
 </div></section></div></details></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Constructors</h2>
@@ -109,119 +110,119 @@ <h5>shape: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class"
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:501</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/collider.d.ts:558</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="activeCollisionTypes" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Collision<wbr/>Types</span><a href="#activeCollisionTypes" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">active<wbr/>Collision<wbr/>Types<span class="tsd-signature-symbol">:</span> <a href="../enums/ActiveCollisionTypes.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveCollisionTypes</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:493</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:550</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="activeEvents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Events</span><a href="#activeEvents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">active<wbr/>Events<span class="tsd-signature-symbol">:</span> <a href="../enums/ActiveEvents.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveEvents</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:491</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:548</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="activeHooks" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Hooks</span><a href="#activeHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">active<wbr/>Hooks<span class="tsd-signature-symbol">:</span> <a href="../enums/ActiveHooks.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveHooks</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:492</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:549</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="centerOfMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>center<wbr/>Of<wbr/>Mass</span><a href="#centerOfMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">center<wbr/>Of<wbr/>Mass<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:478</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:535</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="collisionGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>collision<wbr/>Groups</span><a href="#collisionGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">collision<wbr/>Groups<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:487</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:544</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="contactForceEventThreshold" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span><a href="#contactForceEventThreshold" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">contact<wbr/>Force<wbr/>Event<wbr/>Threshold<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:494</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:551</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="contactSkin" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Skin</span><a href="#contactSkin" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">contact<wbr/>Skin<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:495</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:552</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="density" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>density</span><a href="#density" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">density<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:481</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:538</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="enabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>enabled</span><a href="#enabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">enabled<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:474</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:531</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="friction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>friction</span><a href="#friction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">friction<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:482</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:539</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="frictionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>friction<wbr/>Combine<wbr/>Rule</span><a href="#frictionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">friction<wbr/>Combine<wbr/>Rule<span class="tsd-signature-symbol">:</span> <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-type" data-tsd-kind="Enumeration">CoefficientCombineRule</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:489</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:546</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="isSensor" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>is<wbr/>Sensor</span><a href="#isSensor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">is<wbr/>Sensor<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:486</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:543</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="mass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass</span><a href="#mass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">mass<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:477</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:534</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="massPropsMode" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass<wbr/>Props<wbr/>Mode</span><a href="#massPropsMode" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">mass<wbr/>Props<wbr/>Mode<span class="tsd-signature-symbol">:</span> <a href="../enums/MassPropsMode.html" class="tsd-signature-type" data-tsd-kind="Enumeration">MassPropsMode</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:476</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:533</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="principalAngularInertia" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>principal<wbr/>Angular<wbr/>Inertia</span><a href="#principalAngularInertia" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">principal<wbr/>Angular<wbr/>Inertia<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:479</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:536</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="restitution" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restitution</span><a href="#restitution" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">restitution<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:483</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:540</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="restitutionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restitution<wbr/>Combine<wbr/>Rule</span><a href="#restitutionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">restitution<wbr/>Combine<wbr/>Rule<span class="tsd-signature-symbol">:</span> <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-type" data-tsd-kind="Enumeration">CoefficientCombineRule</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:490</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:547</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotation</span><a href="#rotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotation<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:484</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:541</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotationsEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotations<wbr/>Enabled</span><a href="#rotationsEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotations<wbr/>Enabled<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:480</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:537</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="shape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>shape</span><a href="#shape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">shape<span class="tsd-signature-symbol">:</span> <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:475</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:532</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="solverGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>solver<wbr/>Groups</span><a href="#solverGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">solver<wbr/>Groups<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:488</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:545</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translation</span><a href="#translation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translation<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:485</li></ul></aside></section></section>
+<li>Defined in geometry/collider.d.ts:542</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveCollisionTypes" class="tsd-anchor"></a>
@@ -240,7 +241,7 @@ <h5>activeCollisionTypes: <a href="../enums/ActiveCollisionTypes.html" class="ts
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:748</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:818</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveEvents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Events</span><a href="#setActiveEvents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -258,7 +259,7 @@ <h5>activeEvents: <a href="../enums/ActiveEvents.html" class="tsd-signature-type
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:742</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:812</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveHooks" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Hooks</span><a href="#setActiveHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -276,7 +277,7 @@ <h5>activeHooks: <a href="../enums/ActiveHooks.html" class="tsd-signature-type"
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:734</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:804</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setCollisionGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Collision<wbr/>Groups</span><a href="#setCollisionGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -295,7 +296,7 @@ <h5>groups: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:716</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:786</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setContactForceEventThreshold" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span><a href="#setContactForceEventThreshold" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -312,7 +313,7 @@ <h5>threshold: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:754</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:824</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setContactSkin" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Contact<wbr/>Skin</span><a href="#setContactSkin" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -333,7 +334,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>thickness: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:649</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:719</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setDensity" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Density</span><a href="#setDensity" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -352,7 +353,7 @@ <h5>density: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:658</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:728</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Enabled</span><a href="#setEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -369,7 +370,7 @@ <h5>enabled: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:637</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:707</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setFriction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Friction</span><a href="#setFriction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -388,7 +389,7 @@ <h5>friction: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:693</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:763</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setFrictionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Friction<wbr/>Combine<wbr/>Rule</span><a href="#setFrictionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -406,7 +407,7 @@ <h5>rule: <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-ty
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:700</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:770</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Mass</span><a href="#setMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -424,7 +425,7 @@ <h5>mass: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:666</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:736</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setMassProperties" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Mass<wbr/>Properties</span><a href="#setMassProperties" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -451,7 +452,7 @@ <h5>principalAngularInertia: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:677</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:747</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRestitution" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Restitution</span><a href="#setRestitution" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -470,7 +471,7 @@ <h5>restitution: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:685</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:755</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRestitutionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Restitution<wbr/>Combine<wbr/>Rule</span><a href="#setRestitutionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -488,7 +489,7 @@ <h5>rule: <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-ty
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:707</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:777</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Rotation</span><a href="#setRotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -505,7 +506,7 @@ <h5>rot: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:623</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:693</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSensor" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Sensor</span><a href="#setSensor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -524,7 +525,7 @@ <h5>sensor: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:632</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:702</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSolverGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Solver<wbr/>Groups</span><a href="#setSolverGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -544,7 +545,7 @@ <h5>groups: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:726</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:796</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setTranslation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Translation</span><a href="#setTranslation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -561,7 +562,7 @@ <h5>x: <span class="tsd-signature-type">number</span></h5></li>
 <h5>y: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:617</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:687</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="ball" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>ball</span><a href="#ball" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -578,7 +579,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:507</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:564</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="capsule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>capsule</span><a href="#capsule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -599,7 +600,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:514</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:571</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="convexHull" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>convex<wbr/>Hull</span><a href="#convexHull" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -617,7 +618,7 @@ <h5>points: <span class="tsd-signature-type">Float32Array</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:589</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:659</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="convexPolyline" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>convex<wbr/>Polyline</span><a href="#convexPolyline" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -635,7 +636,7 @@ <h5>vertices: <span class="tsd-signature-type">Float32Array</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:596</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:666</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="cuboid" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>cuboid</span><a href="#cuboid" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -656,7 +657,7 @@ <h5>hy: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:561</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:631</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="halfspace" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>halfspace</span><a href="#halfspace" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -673,7 +674,7 @@ <h5>normal: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:575</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:645</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="heightfield" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>heightfield</span><a href="#heightfield" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -694,7 +695,7 @@ <h5>scale: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-t
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:582</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:652</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="polyline" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>polyline</span><a href="#polyline" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -716,7 +717,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> indices: <span class="
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:547</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:604</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundConvexHull" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Convex<wbr/>Hull</span><a href="#roundConvexHull" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -739,7 +740,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:605</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:675</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundConvexPolyline" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Convex<wbr/>Polyline</span><a href="#roundConvexPolyline" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -761,7 +762,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:613</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:683</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundCuboid" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Cuboid</span><a href="#roundCuboid" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -786,7 +787,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:569</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:639</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundTriangle" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Triangle</span><a href="#roundTriangle" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -816,7 +817,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:539</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:596</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="segment" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>segment</span><a href="#segment" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -837,7 +838,7 @@ <h5>b: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-k
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:521</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:578</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="triangle" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>triangle</span><a href="#triangle" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -862,7 +863,7 @@ <h5>c: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-k
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:529</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:586</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="trimesh" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>trimesh</span><a href="#trimesh" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -885,7 +886,26 @@ <h5>indices: <span class="tsd-signature-type">Uint32Array</span></h5>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> flags: <a href="../enums/TriMeshFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">TriMeshFlags</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:554</li></ul></aside></li></ul></section></section></div>
+<li>Defined in geometry/collider.d.ts:624</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="voxels" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>voxels</span><a href="#voxels" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="voxels.voxels-1">voxels<span class="tsd-signature-symbol">(</span>voxels<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span>, voxelSize<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a><a href="#voxels.voxels-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Creates a new collider descriptor with a shape made of voxels.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>voxels: <span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span></h5></li>
+<li>
+<h5>voxelSize: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The size of each voxel.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:617</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
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 <li class="tsd-kind-method tsd-parent-kind-class"><a href="ColliderDesc.html#segment" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>segment</a></li>
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-<li class="tsd-kind-method tsd-parent-kind-class"><a href="ColliderDesc.html#trimesh" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>trimesh</a></li></ul></li></ul></nav></div></div>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="ColliderDesc.html#trimesh" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>trimesh</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="ColliderDesc.html#voxels" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>voxels</a></li></ul></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/classes/ConvexPolygon.html b/static/javascript2d/classes/ConvexPolygon.html
index 4f09b2e..86e950a 100644
--- a/static/javascript2d/classes/ConvexPolygon.html
+++ b/static/javascript2d/classes/ConvexPolygon.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">ConvexPolygon</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:361</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:390</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -79,7 +79,7 @@ <h5>skipConvexHullComputation: <span class="tsd-signature-type">boolean</span></
 <h4 class="tsd-returns-title">Returns <a href="ConvexPolygon.html" class="tsd-signature-type" data-tsd-kind="Class">ConvexPolygon</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:379</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:408</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="skipConvexHullComputation" class="tsd-anchor"></a>
@@ -88,20 +88,20 @@ <h3 class="tsd-anchor-link"><span>skip<wbr/>Convex<wbr/>Hull<wbr/>Computation</s
 <div class="tsd-comment tsd-typography"><p>Do we want to assume the vertices already form a convex hull?</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:370</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:399</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#ConvexPolygon" class="tsd-signature-type" data-tsd-kind="Enumeration Member">ConvexPolygon</a><span class="tsd-signature-symbol"> = ShapeType.ConvexPolygon</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:362</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:391</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The vertices of the convex polygon.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:366</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:395</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -203,7 +203,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -331,7 +331,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:380</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:409</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/Cuboid.html b/static/javascript2d/classes/Cuboid.html
index 5be959f..9a7bebf 100644
--- a/static/javascript2d/classes/Cuboid.html
+++ b/static/javascript2d/classes/Cuboid.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Cuboid</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:169</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:170</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -76,7 +76,7 @@ <h5>hy: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="Cuboid.html" class="tsd-signature-type" data-tsd-kind="Class">Cuboid</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:180</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:181</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfExtents" class="tsd-anchor"></a>
@@ -85,13 +85,13 @@ <h3 class="tsd-anchor-link"><span>half<wbr/>Extents</span><a href="#halfExtents"
 <div class="tsd-comment tsd-typography"><p>The half extent of the cuboid along each coordinate axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:174</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:175</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Cuboid" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Cuboid</a><span class="tsd-signature-symbol"> = ShapeType.Cuboid</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:170</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:171</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -193,7 +193,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -321,7 +321,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:181</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:182</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/DebugRenderBuffers.html b/static/javascript2d/classes/DebugRenderBuffers.html
index 0e1c92a..0043e44 100644
--- a/static/javascript2d/classes/DebugRenderBuffers.html
+++ b/static/javascript2d/classes/DebugRenderBuffers.html
@@ -23,7 +23,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">DebugRenderBuffers</span></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:7</li></ul></aside>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:8</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -54,7 +54,7 @@ <h5>vertices: <span class="tsd-signature-type">Float32Array</span></h5></li>
 <h5>colors: <span class="tsd-signature-type">Float32Array</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="DebugRenderBuffers.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderBuffers</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:21</li></ul></aside></li></ul></section></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:22</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="colors" class="tsd-anchor"></a>
@@ -64,7 +64,7 @@ <h3 class="tsd-anchor-link"><span>colors</span><a href="#colors" aria-label="Per
 has four consecutive components (in RGBA format).</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:20</li></ul></aside></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:21</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
@@ -75,7 +75,7 @@ <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label=
 describes the two segments <code>[[1, 2], [3, 4]]</code> and <code>[[5, 6], [7, 8]]</code>.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:15</li></ul></aside></section></section></div>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:16</li></ul></aside></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
diff --git a/static/javascript2d/classes/DebugRenderPipeline.html b/static/javascript2d/classes/DebugRenderPipeline.html
index 7eb327c..0171cb6 100644
--- a/static/javascript2d/classes/DebugRenderPipeline.html
+++ b/static/javascript2d/classes/DebugRenderPipeline.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">DebugRenderPipeline</span></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:29</li></ul></aside>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:30</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -60,24 +60,24 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> raw: <span class="tsd-signature-type">RawDebugRenderPipeline</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="DebugRenderPipeline.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderPipeline</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:37</li></ul></aside></li></ul></section></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:38</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="colors" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>colors</span><a href="#colors" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">colors<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:32</li></ul></aside></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:33</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="raw" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>raw</span><a href="#raw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">raw<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">RawDebugRenderPipeline</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:30</li></ul></aside></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:31</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:31</li></ul></aside></section></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:32</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="free" class="tsd-anchor"></a>
@@ -89,11 +89,11 @@ <h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permali
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:36</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:37</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="render" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>render</span><a href="#render" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="render.render-1">render<span class="tsd-signature-symbol">(</span>bodies<span class="tsd-signature-symbol">: </span><a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a>, colliders<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a>, impulse_joints<span class="tsd-signature-symbol">: </span><a href="ImpulseJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">ImpulseJointSet</a>, multibody_joints<span class="tsd-signature-symbol">: </span><a href="MultibodyJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJointSet</a>, narrow_phase<span class="tsd-signature-symbol">: </span><a href="NarrowPhase.html" class="tsd-signature-type" data-tsd-kind="Class">NarrowPhase</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#render.render-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-signature tsd-anchor-link" id="render.render-1">render<span class="tsd-signature-symbol">(</span>bodies<span class="tsd-signature-symbol">: </span><a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a>, colliders<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a>, impulse_joints<span class="tsd-signature-symbol">: </span><a href="ImpulseJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">ImpulseJointSet</a>, multibody_joints<span class="tsd-signature-symbol">: </span><a href="MultibodyJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJointSet</a>, narrow_phase<span class="tsd-signature-symbol">: </span><a href="NarrowPhase.html" class="tsd-signature-type" data-tsd-kind="Class">NarrowPhase</a>, filterFlags<span class="tsd-signature-symbol">?: </span><a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a>, filterPredicate<span class="tsd-signature-symbol">?: </span><span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol"> =&gt; </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#render.render-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
 <li class="tsd-description">
 <div class="tsd-parameters">
 <h4 class="tsd-parameters-title">Parameters</h4>
@@ -107,10 +107,25 @@ <h5>impulse_joints: <a href="ImpulseJointSet.html" class="tsd-signature-type" da
 <li>
 <h5>multibody_joints: <a href="MultibodyJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJointSet</a></h5></li>
 <li>
-<h5>narrow_phase: <a href="NarrowPhase.html" class="tsd-signature-type" data-tsd-kind="Class">NarrowPhase</a></h5></li></ul></div>
+<h5>narrow_phase: <a href="NarrowPhase.html" class="tsd-signature-type" data-tsd-kind="Class">NarrowPhase</a></h5></li>
+<li>
+<h5><code class="tsd-tag ts-flagOptional">Optional</code> filterFlags: <a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a></h5></li>
+<li>
+<h5><code class="tsd-tag ts-flagOptional">Optional</code> filterPredicate: <span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol"> =&gt; </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span></h5>
+<ul class="tsd-parameters">
+<li class="tsd-parameter-signature">
+<ul class="tsd-signatures tsd-kind-type-literal">
+<li class="tsd-signature"><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:38</li></ul></aside></li></ul></section></section></div>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:39</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
diff --git a/static/javascript2d/classes/HalfSpace.html b/static/javascript2d/classes/HalfSpace.html
index cf7e85e..56b0f3e 100644
--- a/static/javascript2d/classes/HalfSpace.html
+++ b/static/javascript2d/classes/HalfSpace.html
@@ -22,7 +22,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">HalfSpace</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:152</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:153</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -69,7 +69,7 @@ <h5>normal: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-
 <h4 class="tsd-returns-title">Returns <a href="HalfSpace.html" class="tsd-signature-type" data-tsd-kind="Class">HalfSpace</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:163</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:164</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="normal" class="tsd-anchor"></a>
@@ -78,13 +78,13 @@ <h3 class="tsd-anchor-link"><span>normal</span><a href="#normal" aria-label="Per
 <div class="tsd-comment tsd-typography"><p>The outward normal of the half-space.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:157</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:158</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#HalfSpace" class="tsd-signature-type" data-tsd-kind="Enumeration Member">HalfSpace</a><span class="tsd-signature-symbol"> = ShapeType.HalfSpace</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:153</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:154</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -186,7 +186,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -314,7 +314,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:164</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:165</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/Heightfield.html b/static/javascript2d/classes/Heightfield.html
index e81e17f..6798623 100644
--- a/static/javascript2d/classes/Heightfield.html
+++ b/static/javascript2d/classes/Heightfield.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Heightfield</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:414</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:443</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -77,7 +77,7 @@ <h5>scale: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-t
 <h4 class="tsd-returns-title">Returns <a href="Heightfield.html" class="tsd-signature-type" data-tsd-kind="Class">Heightfield</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:430</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:459</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="heights" class="tsd-anchor"></a>
@@ -86,20 +86,20 @@ <h3 class="tsd-anchor-link"><span>heights</span><a href="#heights" aria-label="P
 <div class="tsd-comment tsd-typography"><p>The heights of the heightfield, along its local <code>y</code> axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:419</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:448</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="scale" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>scale</span><a href="#scale" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">scale<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The heightfield&#39;s length along its local <code>x</code> axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:423</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:452</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#HeightField" class="tsd-signature-type" data-tsd-kind="Enumeration Member">HeightField</a><span class="tsd-signature-symbol"> = ShapeType.HeightField</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:415</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:444</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -201,7 +201,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -329,7 +329,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:431</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:460</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/IntegrationParameters.html b/static/javascript2d/classes/IntegrationParameters.html
index ec4a195..221ac37 100644
--- a/static/javascript2d/classes/IntegrationParameters.html
+++ b/static/javascript2d/classes/IntegrationParameters.html
@@ -36,8 +36,9 @@ <h3 class="tsd-index-heading">Properties</h3>
 </div></section>
 <section class="tsd-index-section">
 <h3 class="tsd-index-heading">Accessors</h3>
-<div class="tsd-index-list"><a href="IntegrationParameters.html#dt" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4D4D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-262144-path"></rect><path d="M8.85 16L11.13 7.24H12.582L14.85 16H13.758L13.182 13.672H10.53L9.954 16H8.85ZM10.746 12.76H12.954L12.282 10.06C12.154 9.548 12.054 9.12 11.982 8.776C11.91 8.432 11.866 8.208 11.85 8.104C11.834 8.208 11.79 8.432 11.718 8.776C11.646 9.12 11.546 9.544 11.418 10.048L10.746 12.76Z" fill="var(--color-text)" id="icon-262144-text"></path></svg><span>dt</span></a>
-<a href="IntegrationParameters.html#erp" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>erp</span></a>
+<div class="tsd-index-list"><a href="IntegrationParameters.html#contact_erp" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4D4D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-262144-path"></rect><path d="M8.85 16L11.13 7.24H12.582L14.85 16H13.758L13.182 13.672H10.53L9.954 16H8.85ZM10.746 12.76H12.954L12.282 10.06C12.154 9.548 12.054 9.12 11.982 8.776C11.91 8.432 11.866 8.208 11.85 8.104C11.834 8.208 11.79 8.432 11.718 8.776C11.646 9.12 11.546 9.544 11.418 10.048L10.746 12.76Z" fill="var(--color-text)" id="icon-262144-text"></path></svg><span>contact_<wbr/>erp</span></a>
+<a href="IntegrationParameters.html#contact_natural_frequency" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>contact_<wbr/>natural_<wbr/>frequency</span></a>
+<a href="IntegrationParameters.html#dt" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>dt</span></a>
 <a href="IntegrationParameters.html#lengthUnit" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>length<wbr/>Unit</span></a>
 <a href="IntegrationParameters.html#maxCcdSubsteps" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>max<wbr/>Ccd<wbr/>Substeps</span></a>
 <a href="IntegrationParameters.html#minIslandSize" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>min<wbr/>Island<wbr/>Size</span></a>
@@ -78,17 +79,21 @@ <h3 class="tsd-anchor-link"><span>raw</span><a href="#raw" aria-label="Permalink
 <li>Defined in dynamics/integration_parameters.d.ts:3</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Accessors</h2>
-<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="dt" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>dt</span><a href="#dt" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="contact_erp" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>contact_<wbr/>erp</span><a href="#contact_erp" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
-<li class="tsd-signature" id="dt.dt-1"><span class="tsd-signature-symbol">get</span> dt<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span></li>
+<li class="tsd-signature" id="contact_erp.contact_erp-1"><span class="tsd-signature-symbol">get</span> contact_erp<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span></li>
 <li class="tsd-description">
-<div class="tsd-comment tsd-typography"><p>The timestep length (default: <code>1.0 / 60.0</code>)</p>
+<div class="tsd-comment tsd-typography"><p>The Error Reduction Parameter in <code>[0, 1]</code> is the proportion of
+the positional error to be corrected at each time step (default: <code>0.2</code>).</p>
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/integration_parameters.d.ts:12</li></ul></aside></li>
-<li class="tsd-signature" id="dt.dt-2"><span class="tsd-signature-symbol">set</span> dt<span class="tsd-signature-symbol">(</span>value<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
+<li>Defined in dynamics/integration_parameters.d.ts:17</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="contact_natural_frequency" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>contact_<wbr/>natural_<wbr/>frequency</span><a href="#contact_natural_frequency" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
+<li class="tsd-signature" id="contact_natural_frequency.contact_natural_frequency-1"><span class="tsd-signature-symbol">set</span> contact_natural_frequency<span class="tsd-signature-symbol">(</span>value<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-parameters">
 <h4 class="tsd-parameters-title">Parameters</h4>
@@ -97,19 +102,18 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>value: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/integration_parameters.d.ts:51</li></ul></aside></li></ul></section>
-<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="erp" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>erp</span><a href="#erp" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<li>Defined in dynamics/integration_parameters.d.ts:52</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="dt" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>dt</span><a href="#dt" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
-<li class="tsd-signature" id="erp.erp-1"><span class="tsd-signature-symbol">get</span> erp<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span></li>
+<li class="tsd-signature" id="dt.dt-1"><span class="tsd-signature-symbol">get</span> dt<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span></li>
 <li class="tsd-description">
-<div class="tsd-comment tsd-typography"><p>The Error Reduction Parameter in <code>[0, 1]</code> is the proportion of
-the positional error to be corrected at each time step (default: <code>0.2</code>).</p>
+<div class="tsd-comment tsd-typography"><p>The timestep length (default: <code>1.0 / 60.0</code>)</p>
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/integration_parameters.d.ts:17</li></ul></aside></li>
-<li class="tsd-signature" id="erp.erp-2"><span class="tsd-signature-symbol">set</span> erp<span class="tsd-signature-symbol">(</span>value<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
+<li>Defined in dynamics/integration_parameters.d.ts:12</li></ul></aside></li>
+<li class="tsd-signature" id="dt.dt-2"><span class="tsd-signature-symbol">set</span> dt<span class="tsd-signature-symbol">(</span>value<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-parameters">
 <h4 class="tsd-parameters-title">Parameters</h4>
@@ -118,7 +122,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>value: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/integration_parameters.d.ts:52</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/integration_parameters.d.ts:51</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="lengthUnit" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>length<wbr/>Unit</span><a href="#lengthUnit" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -348,8 +352,9 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <ul>
 <li class="tsd-kind-constructor tsd-parent-kind-class"><a href="IntegrationParameters.html#constructor" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-512-path"></use><use href="#icon-512-text"></use></svg>constructor</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="IntegrationParameters.html#raw" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>raw</a></li>
+<li class="tsd-kind-accessor tsd-parent-kind-class"><a href="IntegrationParameters.html#contact_erp" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg>contact_<wbr/>erp</a></li>
+<li class="tsd-kind-accessor tsd-parent-kind-class"><a href="IntegrationParameters.html#contact_natural_frequency" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg>contact_<wbr/>natural_<wbr/>frequency</a></li>
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diff --git a/static/javascript2d/classes/PidController.html b/static/javascript2d/classes/PidController.html
new file mode 100644
index 0000000..acda8af
--- /dev/null
+++ b/static/javascript2d/classes/PidController.html
@@ -0,0 +1,283 @@
+<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>PidController | @dimforge/rapier2d</title><meta name="description" content="Documentation for @dimforge/rapier2d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
+<div class="tsd-toolbar-contents container">
+<div class="table-cell" id="tsd-search" data-base="..">
+<div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M15.7824 13.833L12.6666 10.7177C12.5259 10.5771 12.3353 10.499 12.1353 10.499H11.6259C12.4884 9.39596 13.001 8.00859 13.001 6.49937C13.001 2.90909 10.0914 0 6.50048 0C2.90959 0 0 2.90909 0 6.49937C0 10.0896 2.90959 12.9987 6.50048 12.9987C8.00996 12.9987 9.39756 12.4863 10.5008 11.6239V12.1332C10.5008 12.3332 10.5789 12.5238 10.7195 12.6644L13.8354 15.7797C14.1292 16.0734 14.6042 16.0734 14.8948 15.7797L15.7793 14.8954C16.0731 14.6017 16.0731 14.1267 15.7824 13.833ZM6.50048 10.499C4.29094 10.499 2.50018 8.71165 2.50018 6.49937C2.50018 4.29021 4.28781 2.49976 6.50048 2.49976C8.71001 2.49976 10.5008 4.28708 10.5008 6.49937C10.5008 8.70852 8.71314 10.499 6.50048 10.499Z" fill="var(--color-text)"></path></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div>
+<div class="field">
+<div id="tsd-toolbar-links"></div></div>
+<ul class="results">
+<li class="state loading">Preparing search index...</li>
+<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier2d</a></div>
+<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
+<div class="container container-main">
+<div class="col-8 col-content">
+<div class="tsd-page-title">
+<ul class="tsd-breadcrumb">
+<li><a href="../index.html">@dimforge/rapier2d</a></li>
+<li><a href="PidController.html">PidController</a></li></ul>
+<h1>Class PidController</h1></div>
+<section class="tsd-panel tsd-comment">
+<div class="tsd-comment tsd-typography"><p>A controller for controlling dynamic bodies using the
+Proportional-Integral-Derivative correction model.</p>
+</div></section>
+<section class="tsd-panel tsd-hierarchy">
+<h4>Hierarchy</h4>
+<ul class="tsd-hierarchy">
+<li><span class="target">PidController</span></li></ul></section><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:32</li></ul></aside>
+<section class="tsd-panel-group tsd-index-group">
+<section class="tsd-panel tsd-index-panel">
+<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
+<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
+<div class="tsd-accordion-details">
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Constructors</h3>
+<div class="tsd-index-list"><a href="PidController.html#constructor" class="tsd-index-link tsd-kind-constructor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#4D7FFF" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-512-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-512-text"></path></svg><span>constructor</span></a>
+</div></section>
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Properties</h3>
+<div class="tsd-index-list"><a href="PidController.html#bodies" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-private"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>bodies</span></a>
+<a href="PidController.html#params" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-private"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>params</span></a>
+<a href="PidController.html#raw" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-private"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>raw</span></a>
+</div></section>
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Methods</h3>
+<div class="tsd-index-list"><a href="PidController.html#angularCorrection" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4DB8" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-2048-path"></rect><path d="M9.162 16V7.24H10.578L11.514 10.072C11.602 10.328 11.674 10.584 11.73 10.84C11.794 11.088 11.842 11.28 11.874 11.416C11.906 11.28 11.954 11.088 12.018 10.84C12.082 10.584 12.154 10.324 12.234 10.06L13.122 7.24H14.538V16H13.482V12.82C13.482 12.468 13.49 12.068 13.506 11.62C13.53 11.172 13.558 10.716 13.59 10.252C13.622 9.78 13.654 9.332 13.686 8.908C13.726 8.476 13.762 8.1 13.794 7.78L12.366 12.16H11.334L9.894 7.78C9.934 8.092 9.97 8.456 10.002 8.872C10.042 9.28 10.078 9.716 10.11 10.18C10.142 10.636 10.166 11.092 10.182 11.548C10.206 12.004 10.218 12.428 10.218 12.82V16H9.162Z" fill="var(--color-text)" id="icon-2048-text"></path></svg><span>angular<wbr/>Correction</span></a>
+<a href="PidController.html#applyAngularCorrection" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>apply<wbr/>Angular<wbr/>Correction</span></a>
+<a href="PidController.html#applyLinearCorrection" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>apply<wbr/>Linear<wbr/>Correction</span></a>
+<a href="PidController.html#free" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>free</span></a>
+<a href="PidController.html#linearCorrection" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>linear<wbr/>Correction</span></a>
+<a href="PidController.html#resetIntegrals" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>reset<wbr/>Integrals</span></a>
+<a href="PidController.html#setAxes" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Axes</span></a>
+<a href="PidController.html#setKd" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Kd</span></a>
+<a href="PidController.html#setKi" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Ki</span></a>
+<a href="PidController.html#setKp" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Kp</span></a>
+</div></section></div></details></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Constructors</h2>
+<section class="tsd-panel tsd-member tsd-kind-constructor tsd-parent-kind-class"><a id="constructor" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>constructor</span><a href="#constructor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><path stroke="none" d="M0 0h24v24H0z" fill="none" id="icon-anchor-a"></path><path d="M10 14a3.5 3.5 0 0 0 5 0l4 -4a3.5 3.5 0 0 0 -5 -5l-.5 .5" id="icon-anchor-b"></path><path d="M14 10a3.5 3.5 0 0 0 -5 0l-4 4a3.5 3.5 0 0 0 5 5l.5 -.5" id="icon-anchor-c"></path></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-constructor tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="constructor.new_PidController">new <wbr/>Pid<wbr/>Controller<span class="tsd-signature-symbol">(</span>params<span class="tsd-signature-symbol">: </span><a href="IntegrationParameters.html" class="tsd-signature-type" data-tsd-kind="Class">IntegrationParameters</a>, bodies<span class="tsd-signature-symbol">: </span><a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a>, kp<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, ki<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, kd<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a><a href="#constructor.new_PidController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>params: <a href="IntegrationParameters.html" class="tsd-signature-type" data-tsd-kind="Class">IntegrationParameters</a></h5></li>
+<li>
+<h5>bodies: <a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a></h5></li>
+<li>
+<h5>kp: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>ki: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>kd: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:36</li></ul></aside></li></ul></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Properties</h2>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-private"><a id="bodies" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagPrivate">Private</code> <span>bodies</span><a href="#bodies" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">bodies<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">any</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:35</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-private"><a id="params" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagPrivate">Private</code> <span>params</span><a href="#params" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">params<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">any</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:34</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-private"><a id="raw" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagPrivate">Private</code> <span>raw</span><a href="#raw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">raw<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">any</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:33</li></ul></aside></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Methods</h2>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="angularCorrection" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>angular<wbr/>Correction</span><a href="#angularCorrection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="angularCorrection.angularCorrection-1">angular<wbr/>Correction<span class="tsd-signature-symbol">(</span>body<span class="tsd-signature-symbol">: </span><a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a>, targetRotation<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, targetAngVel<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><a href="#angularCorrection.angularCorrection-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h5></li>
+<li>
+<h5>targetRotation: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>targetAngVel: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:47</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="applyAngularCorrection" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>apply<wbr/>Angular<wbr/>Correction</span><a href="#applyAngularCorrection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="applyAngularCorrection.applyAngularCorrection-1">apply<wbr/>Angular<wbr/>Correction<span class="tsd-signature-symbol">(</span>body<span class="tsd-signature-symbol">: </span><a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a>, targetRotation<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, targetAngVel<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#applyAngularCorrection.applyAngularCorrection-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h5></li>
+<li>
+<h5>targetRotation: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>targetAngVel: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:45</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="applyLinearCorrection" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>apply<wbr/>Linear<wbr/>Correction</span><a href="#applyLinearCorrection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="applyLinearCorrection.applyLinearCorrection-1">apply<wbr/>Linear<wbr/>Correction<span class="tsd-signature-symbol">(</span>body<span class="tsd-signature-symbol">: </span><a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a>, targetPosition<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, targetLinvel<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#applyLinearCorrection.applyLinearCorrection-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h5></li>
+<li>
+<h5>targetPosition: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>targetLinvel: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:44</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="free" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="free.free-1">free<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#free.free-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description"><code class="tsd-tag ts-flagInternal">Internal</code> 
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:38</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="linearCorrection" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>linear<wbr/>Correction</span><a href="#linearCorrection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="linearCorrection.linearCorrection-1">linear<wbr/>Correction<span class="tsd-signature-symbol">(</span>body<span class="tsd-signature-symbol">: </span><a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a>, targetPosition<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, targetLinvel<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><a href="#linearCorrection.linearCorrection-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h5></li>
+<li>
+<h5>targetPosition: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>targetLinvel: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:46</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="resetIntegrals" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>reset<wbr/>Integrals</span><a href="#resetIntegrals" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="resetIntegrals.resetIntegrals-1">reset<wbr/>Integrals<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#resetIntegrals.resetIntegrals-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:43</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAxes" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Axes</span><a href="#setAxes" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setAxes.setAxes-1">set<wbr/>Axes<span class="tsd-signature-symbol">(</span>axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setAxes.setAxes-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:42</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setKd" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Kd</span><a href="#setKd" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setKd.setKd-1">set<wbr/>Kd<span class="tsd-signature-symbol">(</span>kd<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setKd.setKd-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>kd: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:41</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setKi" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Ki</span><a href="#setKi" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setKi.setKi-1">set<wbr/>Ki<span class="tsd-signature-symbol">(</span>ki<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setKi.setKi-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
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+<h5>ki: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:40</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setKp" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Kp</span><a href="#setKp" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setKp.setKp-1">set<wbr/>Kp<span class="tsd-signature-symbol">(</span>kp<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setKp.setKp-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>kp: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:39</li></ul></aside></li></ul></section></section></div>
+<div class="col-4 col-menu menu-sticky-wrap menu-highlight">
+<div class="tsd-navigation settings">
+<details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
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+<div class="tsd-accordion-details">
+<div class="tsd-filter-visibility">
+<h4 class="uppercase">Member Visibility</h4><form>
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+<li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-protected" name="protected"/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Protected</span></label></li>
+<li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-private" name="private"/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Private</span></label></li>
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+<div class="tsd-theme-toggle">
+<h4 class="uppercase">Theme</h4><select id="theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div>
+<nav class="tsd-navigation primary">
+<details class="tsd-index-accordion" open><summary class="tsd-accordion-summary">
+<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Modules</h3></summary>
+<div class="tsd-accordion-details">
+<ul>
+<li><a href="../index.html">@dimforge/rapier2d</a>
+<ul>
+<li class="tsd-kind-namespace"><a href="../modules/default.html">default</a></li></ul></li></ul></div></details></nav>
+<nav class="tsd-navigation secondary menu-sticky">
+<ul>
+<li class="current tsd-kind-class"><a href="PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-class)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-128-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-128-text"></path></svg><span>Pid<wbr/>Controller</span></a>
+<ul>
+<li class="tsd-kind-constructor tsd-parent-kind-class"><a href="PidController.html#constructor" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-512-path"></use><use href="#icon-512-text"></use></svg>constructor</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class tsd-is-private"><a href="PidController.html#bodies" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>bodies</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class tsd-is-private"><a href="PidController.html#params" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>params</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class tsd-is-private"><a href="PidController.html#raw" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>raw</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#angularCorrection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>angular<wbr/>Correction</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#applyAngularCorrection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>apply<wbr/>Angular<wbr/>Correction</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#applyLinearCorrection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>apply<wbr/>Linear<wbr/>Correction</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#free" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>free</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#linearCorrection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>linear<wbr/>Correction</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#resetIntegrals" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>reset<wbr/>Integrals</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#setAxes" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Axes</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#setKd" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Kd</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#setKi" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Ki</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#setKp" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Kp</a></li></ul></li></ul></nav></div></div>
+<div class="container tsd-generator">
+<p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
+<div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/classes/Polyline.html b/static/javascript2d/classes/Polyline.html
index ed10668..19795bf 100644
--- a/static/javascript2d/classes/Polyline.html
+++ b/static/javascript2d/classes/Polyline.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Polyline</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:312</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:313</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -78,7 +78,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> indices: <span class="
 <h4 class="tsd-returns-title">Returns <a href="Polyline.html" class="tsd-signature-type" data-tsd-kind="Class">Polyline</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:329</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:330</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="indices" class="tsd-anchor"></a>
@@ -87,20 +87,20 @@ <h3 class="tsd-anchor-link"><span>indices</span><a href="#indices" aria-label="P
 <div class="tsd-comment tsd-typography"><p>The indices of the segments.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:321</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:322</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Polyline" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Polyline</a><span class="tsd-signature-symbol"> = ShapeType.Polyline</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:313</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:314</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The vertices of the polyline.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:317</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:318</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -202,7 +202,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -330,7 +330,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:330</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:331</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/QueryPipeline.html b/static/javascript2d/classes/QueryPipeline.html
index 20b442a..7781c87 100644
--- a/static/javascript2d/classes/QueryPipeline.html
+++ b/static/javascript2d/classes/QueryPipeline.html
@@ -132,7 +132,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayColliderHit.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:75</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:74</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRayAndGetNormal" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span><a href="#castRayAndGetNormal" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -188,7 +188,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayColliderIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderIntersection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:89</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:88</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Shape</span><a href="#castShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -237,7 +237,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li>
 <li>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> filterFlags: <a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a></h5></li>
@@ -262,7 +262,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:170</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:169</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="collidersWithAabbIntersectingAabb" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>colliders<wbr/>With<wbr/>Aabb<wbr/>Intersecting<wbr/>Aabb</span><a href="#collidersWithAabbIntersectingAabb" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -299,7 +299,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:191</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:190</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="free" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -361,7 +361,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:115</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:114</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Point</span><a href="#intersectionsWithPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -421,7 +421,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:149</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:148</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithRay" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Ray</span><a href="#intersectionsWithRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -492,7 +492,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:104</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:103</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Shape</span><a href="#intersectionsWithShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -559,7 +559,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:182</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:181</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -611,7 +611,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointColliderProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointColliderProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:129</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:128</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPointAndGetFeature" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point<wbr/>And<wbr/>Get<wbr/>Feature</span><a href="#projectPointAndGetFeature" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -655,11 +655,11 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointColliderProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointColliderProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:138</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:137</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="update" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>update</span><a href="#update" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="update.update-1">update<span class="tsd-signature-symbol">(</span>bodies<span class="tsd-signature-symbol">: </span><a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a>, colliders<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#update.update-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-signature tsd-anchor-link" id="update.update-1">update<span class="tsd-signature-symbol">(</span>colliders<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#update.update-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Updates the acceleration structure of the query pipeline.</p>
 </div>
@@ -667,16 +667,12 @@ <h3 class="tsd-anchor-link"><span>update</span><a href="#update" aria-label="Per
 <h4 class="tsd-parameters-title">Parameters</h4>
 <ul class="tsd-parameter-list">
 <li>
-<h5>bodies: <a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a></h5>
-<div class="tsd-comment tsd-typography"><p>The set of rigid-bodies taking part in this pipeline.</p>
-</div></li>
-<li>
 <h5>colliders: <a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a></h5>
 <div class="tsd-comment tsd-typography"><p>The set of colliders taking part in this pipeline.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:61</li></ul></aside></li></ul></section></section></div>
+<li>Defined in pipeline/query_pipeline.d.ts:60</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
diff --git a/static/javascript2d/classes/RayColliderToi.html b/static/javascript2d/classes/RayColliderToi.html
deleted file mode 100644
index 79a4303..0000000
--- a/static/javascript2d/classes/RayColliderToi.html
+++ /dev/null
@@ -1,127 +0,0 @@
-<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>RayColliderToi | @dimforge/rapier2d</title><meta name="description" content="Documentation for @dimforge/rapier2d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
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-<div class="field">
-<div id="tsd-toolbar-links"></div></div>
-<ul class="results">
-<li class="state loading">Preparing search index...</li>
-<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier2d</a></div>
-<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
-<div class="container container-main">
-<div class="col-8 col-content">
-<div class="tsd-page-title">
-<ul class="tsd-breadcrumb">
-<li><a href="../index.html">@dimforge/rapier2d</a></li>
-<li><a href="RayColliderToi.html">RayColliderToi</a></li></ul>
-<h1>Class RayColliderToi</h1></div>
-<section class="tsd-panel tsd-comment">
-<div class="tsd-comment tsd-typography"><p>The time of impact between a ray and a collider.</p>
-</div></section>
-<section class="tsd-panel tsd-hierarchy">
-<h4>Hierarchy</h4>
-<ul class="tsd-hierarchy">
-<li><span class="target">RayColliderToi</span></li></ul></section><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/ray.d.ts:84</li></ul></aside>
-<section class="tsd-panel-group tsd-index-group">
-<section class="tsd-panel tsd-index-panel">
-<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
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-<div class="tsd-accordion-details">
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Constructors</h3>
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diff --git a/static/javascript2d/classes/RigidBody.html b/static/javascript2d/classes/RigidBody.html
index fd4e991..e77875b 100644
--- a/static/javascript2d/classes/RigidBody.html
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@@ -105,6 +105,9 @@ <h3 class="tsd-index-heading">Methods</h3>
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 <a href="RigidBody.html#softCcdPrediction" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>soft<wbr/>Ccd<wbr/>Prediction</span></a>
 <a href="RigidBody.html#translation" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>translation</span></a>
+<a href="RigidBody.html#userForce" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>user<wbr/>Force</span></a>
+<a href="RigidBody.html#userTorque" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>user<wbr/>Torque</span></a>
+<a href="RigidBody.html#velocityAtPoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>velocity<wbr/>At<wbr/>Point</span></a>
 <a href="RigidBody.html#wakeUp" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>wake<wbr/>Up</span></a>
 <a href="RigidBody.html#worldCom" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>world<wbr/>Com</span></a>
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 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:429</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:433</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="addForceAtPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>add<wbr/>Force<wbr/>At<wbr/>Point</span><a href="#addForceAtPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:458</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:462</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="addTorque" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>add<wbr/>Torque</span><a href="#addTorque" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:443</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:447</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="additionalSolverIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>additional<wbr/>Solver<wbr/>Iterations</span><a href="#additionalSolverIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:357</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:361</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="angvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>angvel</span><a href="#angvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
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 <ul>
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:333</li></ul></aside></li></ul></section>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:353</li></ul></aside></li></ul></section>
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 <ul>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <h3 class="tsd-anchor-link"><span>principal<wbr/>Inertia</span><a href="#principalInertia" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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@@ -660,7 +663,7 @@ <h3 class="tsd-anchor-link"><span>principal<wbr/>Inertia</span><a href="#princip
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:268</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:272</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="recomputeMassPropertiesFromColliders" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>recompute<wbr/>Mass<wbr/>Properties<wbr/>From<wbr/>Colliders</span><a href="#recomputeMassPropertiesFromColliders" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -670,7 +673,7 @@ <h3 class="tsd-anchor-link"><span>recompute<wbr/>Mass<wbr/>Properties<wbr/>From<
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:367</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:371</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="resetForces" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>reset<wbr/>Forces</span><a href="#resetForces" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -687,7 +690,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:416</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:420</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="resetTorques" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>reset<wbr/>Torques</span><a href="#resetTorques" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -704,7 +707,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:422</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:426</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restrictTranslations" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -771,7 +774,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:387</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:391</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalMassProperties" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Additional<wbr/>Mass<wbr/>Properties</span><a href="#setAdditionalMassProperties" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -801,7 +804,7 @@ <h5>principalAngularInertia: <span class="tsd-signature-type">number</span></h5>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:404</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:408</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalSolverIterations" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:410</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:414</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAngvel" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -878,7 +881,7 @@ <h5>type: <a href="../enums/RigidBodyType.html" class="tsd-signature-type" data-
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:329</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:333</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setDominanceGroup" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Dominance<wbr/>Group</span><a href="#setDominanceGroup" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:317</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:321</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setEnabledTranslations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Enabled<wbr/>Translations</span><a href="#setEnabledTranslations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -977,7 +980,7 @@ <h5>factor: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:363</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:367</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setLinvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Linvel</span><a href="#setLinvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1116,7 +1119,7 @@ <h3 class="tsd-anchor-link"><span>sleep</span><a href="#sleep" aria-label="Perma
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:286</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:290</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="softCcdPrediction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>soft<wbr/>Ccd<wbr/>Prediction</span><a href="#softCcdPrediction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1139,6 +1142,43 @@ <h3 class="tsd-anchor-link"><span>translation</span><a href="#translation" aria-
 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
 <li>Defined in dynamics/rigid_body.d.ts:140</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="userForce" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>user<wbr/>Force</span><a href="#userForce" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="userForce.userForce-1">user<wbr/>Force<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><a href="#userForce.userForce-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Retrieves the constant force(s) the user added to this rigid-body
+Returns zero if the rigid-body is not dynamic.</p>
+</div>
+<h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in dynamics/rigid_body.d.ts:475</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="userTorque" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>user<wbr/>Torque</span><a href="#userTorque" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="userTorque.userTorque-1">user<wbr/>Torque<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><a href="#userTorque.userTorque-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Retrieves the constant torque(s) the user added to this rigid-body
+Returns zero if the rigid-body is not dynamic.</p>
+</div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in dynamics/rigid_body.d.ts:480</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="velocityAtPoint" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>velocity<wbr/>At<wbr/>Point</span><a href="#velocityAtPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="velocityAtPoint.velocityAtPoint-1">velocity<wbr/>At<wbr/>Point<span class="tsd-signature-symbol">(</span>point<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><a href="#velocityAtPoint.velocityAtPoint-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>The velocity of the given world-space point on this rigid-body.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>point: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in dynamics/rigid_body.d.ts:236</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="wakeUp" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:296</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:300</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="worldCom" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:258</li></ul></aside></li></ul></section></section></div>
+<li>Defined in dynamics/rigid_body.d.ts:262</li></ul></aside></li></ul></section></section></div>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="RigidBody.html#userForce" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>user<wbr/>Force</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="RigidBody.html#userTorque" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>user<wbr/>Torque</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="RigidBody.html#velocityAtPoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>velocity<wbr/>At<wbr/>Point</a></li>
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diff --git a/static/javascript2d/classes/RigidBodyDesc.html b/static/javascript2d/classes/RigidBodyDesc.html
index 82a6d59..4daff17 100644
--- a/static/javascript2d/classes/RigidBodyDesc.html
+++ b/static/javascript2d/classes/RigidBodyDesc.html
@@ -20,7 +20,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RigidBodyDesc</span></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:468</li></ul></aside>
+<li>Defined in dynamics/rigid_body.d.ts:482</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -102,124 +102,124 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>status: <a href="../enums/RigidBodyType.html" class="tsd-signature-type" data-tsd-kind="Enumeration">RigidBodyType</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:492</li></ul></aside></li></ul></section></section>
+<li>Defined in dynamics/rigid_body.d.ts:506</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="additionalSolverIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>additional<wbr/>Solver<wbr/>Iterations</span><a href="#additionalSolverIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">additional<wbr/>Solver<wbr/>Iterations<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:490</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:504</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="angularDamping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>angular<wbr/>Damping</span><a href="#angularDamping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">angular<wbr/>Damping<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:483</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:497</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="angvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>angvel</span><a href="#angvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">angvel<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:479</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:493</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="canSleep" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>can<wbr/>Sleep</span><a href="#canSleep" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">can<wbr/>Sleep<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:485</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:499</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="ccdEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>ccd<wbr/>Enabled</span><a href="#ccdEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">ccd<wbr/>Enabled<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:487</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:501</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="centerOfMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>center<wbr/>Of<wbr/>Mass</span><a href="#centerOfMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">center<wbr/>Of<wbr/>Mass<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:475</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:489</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="dominanceGroup" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>dominance<wbr/>Group</span><a href="#dominanceGroup" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">dominance<wbr/>Group<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:489</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:503</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="enabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>enabled</span><a href="#enabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">enabled<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:469</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:483</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="gravityScale" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>gravity<wbr/>Scale</span><a href="#gravityScale" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">gravity<wbr/>Scale<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:472</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:486</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="linearDamping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>linear<wbr/>Damping</span><a href="#linearDamping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">linear<wbr/>Damping<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:482</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:496</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="linvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>linvel</span><a href="#linvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">linvel<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:478</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:492</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="mass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass</span><a href="#mass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">mass<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:473</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:487</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="massOnly" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass<wbr/>Only</span><a href="#massOnly" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">mass<wbr/>Only<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:474</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:488</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="principalAngularInertia" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>principal<wbr/>Angular<wbr/>Inertia</span><a href="#principalAngularInertia" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">principal<wbr/>Angular<wbr/>Inertia<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:480</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:494</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotation</span><a href="#rotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotation<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:471</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:485</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotationsEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotations<wbr/>Enabled</span><a href="#rotationsEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotations<wbr/>Enabled<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:481</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:495</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="sleeping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>sleeping</span><a href="#sleeping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">sleeping<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:486</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:500</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="softCcdPrediction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>soft<wbr/>Ccd<wbr/>Prediction</span><a href="#softCcdPrediction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">soft<wbr/>Ccd<wbr/>Prediction<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:488</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:502</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="status" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>status</span><a href="#status" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">status<span class="tsd-signature-symbol">:</span> <a href="../enums/RigidBodyType.html" class="tsd-signature-type" data-tsd-kind="Enumeration">RigidBodyType</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:484</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:498</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translation</span><a href="#translation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translation<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:470</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:484</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translationsEnabledX" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translations<wbr/>EnabledX</span><a href="#translationsEnabledX" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translations<wbr/>EnabledX<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:476</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:490</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translationsEnabledY" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translations<wbr/>EnabledY</span><a href="#translationsEnabledY" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translations<wbr/>EnabledY<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:477</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:491</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="userData" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagOptional">Optional</code> <span>user<wbr/>Data</span><a href="#userData" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">user<wbr/>Data<span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-type">unknown</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:491</li></ul></aside></section></section>
+<li>Defined in dynamics/rigid_body.d.ts:505</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="enabledTranslations" class="tsd-anchor"></a>
@@ -242,7 +242,7 @@ <h5>translationsEnabledY: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:610</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:624</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="lockRotations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>lock<wbr/>Rotations</span><a href="#lockRotations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -253,7 +253,7 @@ <h3 class="tsd-anchor-link"><span>lock<wbr/>Rotations</span><a href="#lockRotati
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:627</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:641</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="lockTranslations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>lock<wbr/>Translations</span><a href="#lockTranslations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -264,7 +264,7 @@ <h3 class="tsd-anchor-link"><span>lock<wbr/>Translations</span><a href="#lockTra
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:622</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:636</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restrictTranslations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restrict<wbr/>Translations</span><a href="#restrictTranslations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -287,7 +287,7 @@ <h5>translationsEnabledY: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:617</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:631</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Additional<wbr/>Mass</span><a href="#setAdditionalMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -304,7 +304,7 @@ <h5>mass: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:574</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:588</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalMassProperties" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Additional<wbr/>Mass<wbr/>Properties</span><a href="#setAdditionalMassProperties" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -336,7 +336,7 @@ <h5>principalAngularInertia: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:604</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:618</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalSolverIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Additional<wbr/>Solver<wbr/>Iterations</span><a href="#setAdditionalSolverIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -358,7 +358,7 @@ <h5>iters: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:545</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:559</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAngularDamping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Angular<wbr/>Damping</span><a href="#setAngularDamping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -377,7 +377,7 @@ <h5>damping: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:645</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:659</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAngvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Angvel</span><a href="#setAngvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -394,7 +394,7 @@ <h5>vel: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:587</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:601</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setCanSleep" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Can<wbr/>Sleep</span><a href="#setCanSleep" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -411,7 +411,7 @@ <h5>can: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:651</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:665</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setCcdEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Ccd<wbr/>Enabled</span><a href="#setCcdEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -428,7 +428,7 @@ <h5>enabled: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:663</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:677</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setDominanceGroup" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Dominance<wbr/>Group</span><a href="#setDominanceGroup" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -441,7 +441,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>group: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:533</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:547</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Enabled</span><a href="#setEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -458,7 +458,7 @@ <h5>enabled: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:550</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:564</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setGravityScale" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Gravity<wbr/>Scale</span><a href="#setGravityScale" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -477,7 +477,7 @@ <h5>scale: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:568</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:582</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setLinearDamping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Linear<wbr/>Damping</span><a href="#setLinearDamping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -496,7 +496,7 @@ <h5>damping: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:636</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:650</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setLinvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Linvel</span><a href="#setLinvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -517,7 +517,7 @@ <h5>y: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:581</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:595</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Rotation</span><a href="#setRotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -534,7 +534,7 @@ <h5>rot: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:560</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:574</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSleeping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Sleeping</span><a href="#setSleeping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -549,7 +549,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>sleeping: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:657</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:671</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSoftCcdPrediction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Soft<wbr/>Ccd<wbr/>Prediction</span><a href="#setSoftCcdPrediction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -571,7 +571,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>distance: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:676</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:690</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setTranslation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Translation</span><a href="#setTranslation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -588,7 +588,7 @@ <h5>x: <span class="tsd-signature-type">number</span></h5></li>
 <h5>y: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:554</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:568</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setUserData" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>User<wbr/>Data</span><a href="#setUserData" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -603,7 +603,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> data: <span class="tsd-signature-type">unknown</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:682</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:696</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="dynamic" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>dynamic</span><a href="#dynamic" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -613,7 +613,7 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <s
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:496</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:510</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="fixed" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>fixed</span><a href="#fixed" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -623,7 +623,7 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <s
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:508</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:522</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="kinematicPositionBased" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>kinematic<wbr/>Position<wbr/>Based</span><a href="#kinematicPositionBased" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -633,7 +633,7 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <s
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:500</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:514</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="kinematicVelocityBased" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>kinematic<wbr/>Velocity<wbr/>Based</span><a href="#kinematicVelocityBased" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -643,7 +643,7 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <s
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:504</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:518</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="newDynamic" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>new<wbr/>Dynamic</span><a href="#newDynamic" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -655,7 +655,7 @@ <h3>Deprecated</h3><p>The method has been renamed to <code>.dynamic()</code>.</p
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:514</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:528</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="newKinematicPositionBased" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>new<wbr/>Kinematic<wbr/>Position<wbr/>Based</span><a href="#newKinematicPositionBased" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -667,7 +667,7 @@ <h3>Deprecated</h3><p>The method has been renamed to <code>.kinematicPositionBas
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:520</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:534</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="newKinematicVelocityBased" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>new<wbr/>Kinematic<wbr/>Velocity<wbr/>Based</span><a href="#newKinematicVelocityBased" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -679,7 +679,7 @@ <h3>Deprecated</h3><p>The method has been renamed to <code>.kinematicVelocityBas
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:526</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:540</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="newStatic" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>new<wbr/>Static</span><a href="#newStatic" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -691,7 +691,7 @@ <h3>Deprecated</h3><p>The method has been renamed to <code>.fixed()</code>.</p>
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:532</li></ul></aside></li></ul></section></section></div>
+<li>Defined in dynamics/rigid_body.d.ts:546</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
diff --git a/static/javascript2d/classes/RoundConvexPolygon.html b/static/javascript2d/classes/RoundConvexPolygon.html
index 70e5c62..0e4594e 100644
--- a/static/javascript2d/classes/RoundConvexPolygon.html
+++ b/static/javascript2d/classes/RoundConvexPolygon.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RoundConvexPolygon</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:385</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:414</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -84,7 +84,7 @@ <h5>skipConvexHullComputation: <span class="tsd-signature-type">boolean</span></
 <h4 class="tsd-returns-title">Returns <a href="RoundConvexPolygon.html" class="tsd-signature-type" data-tsd-kind="Class">RoundConvexPolygon</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:408</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:437</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="borderRadius" class="tsd-anchor"></a>
@@ -93,27 +93,27 @@ <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadiu
 <div class="tsd-comment tsd-typography"><p>The radius of the convex polygon&#39;s rounded edges and vertices.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:398</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:427</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="skipConvexHullComputation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>skip<wbr/>Convex<wbr/>Hull<wbr/>Computation</span><a href="#skipConvexHullComputation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">skip<wbr/>Convex<wbr/>Hull<wbr/>Computation<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div>
 <div class="tsd-comment tsd-typography"><p>Do we want to assume the vertices already form a convex hull?</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:394</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:423</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#RoundConvexPolygon" class="tsd-signature-type" data-tsd-kind="Enumeration Member">RoundConvexPolygon</a><span class="tsd-signature-symbol"> = ShapeType.RoundConvexPolygon</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:386</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:415</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The vertices of the convex polygon.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:390</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:419</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -215,7 +215,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -343,7 +343,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:409</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:438</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/RoundCuboid.html b/static/javascript2d/classes/RoundCuboid.html
index daba739..ad418c0 100644
--- a/static/javascript2d/classes/RoundCuboid.html
+++ b/static/javascript2d/classes/RoundCuboid.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RoundCuboid</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:186</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:187</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -82,7 +82,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="RoundCuboid.html" class="tsd-signature-type" data-tsd-kind="Class">RoundCuboid</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:203</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:204</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="borderRadius" class="tsd-anchor"></a>
@@ -91,20 +91,20 @@ <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadiu
 <div class="tsd-comment tsd-typography"><p>The radius of the cuboid&#39;s round border.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:195</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:196</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfExtents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>half<wbr/>Extents</span><a href="#halfExtents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">half<wbr/>Extents<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The half extent of the cuboid along each coordinate axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:191</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:192</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#RoundCuboid" class="tsd-signature-type" data-tsd-kind="Enumeration Member">RoundCuboid</a><span class="tsd-signature-symbol"> = ShapeType.RoundCuboid</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:187</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:188</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -206,7 +206,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -334,7 +334,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:204</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:205</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/RoundTriangle.html b/static/javascript2d/classes/RoundTriangle.html
index 2dd8abb..fde1834 100644
--- a/static/javascript2d/classes/RoundTriangle.html
+++ b/static/javascript2d/classes/RoundTriangle.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RoundTriangle</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:278</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:279</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -88,7 +88,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="RoundTriangle.html" class="tsd-signature-type" data-tsd-kind="Class">RoundTriangle</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:306</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:307</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="a" class="tsd-anchor"></a>
@@ -97,14 +97,14 @@ <h3 class="tsd-anchor-link"><span>a</span><a href="#a" aria-label="Permalink" cl
 <div class="tsd-comment tsd-typography"><p>The first point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:283</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:284</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="b" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>b</span><a href="#b" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">b<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:287</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:288</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="borderRadius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">border<wbr/>Radius<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
@@ -112,20 +112,20 @@ <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadiu
 In 3D, this is also equal to half the thickness of the round triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:296</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:297</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="c" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>c</span><a href="#c" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">c<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:291</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:292</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#RoundTriangle" class="tsd-signature-type" data-tsd-kind="Enumeration Member">RoundTriangle</a><span class="tsd-signature-symbol"> = ShapeType.RoundTriangle</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:279</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:280</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -227,7 +227,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -355,7 +355,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:307</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:308</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/Segment.html b/static/javascript2d/classes/Segment.html
index 98b5126..1508f74 100644
--- a/static/javascript2d/classes/Segment.html
+++ b/static/javascript2d/classes/Segment.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Segment</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:230</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:231</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -77,7 +77,7 @@ <h5>b: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-k
 <h4 class="tsd-returns-title">Returns <a href="Segment.html" class="tsd-signature-type" data-tsd-kind="Class">Segment</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:245</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:246</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="a" class="tsd-anchor"></a>
@@ -86,20 +86,20 @@ <h3 class="tsd-anchor-link"><span>a</span><a href="#a" aria-label="Permalink" cl
 <div class="tsd-comment tsd-typography"><p>The first point of the segment.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:235</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:236</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="b" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>b</span><a href="#b" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">b<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the segment.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:239</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:240</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Segment" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Segment</a><span class="tsd-signature-symbol"> = ShapeType.Segment</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:231</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:232</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -201,7 +201,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -329,7 +329,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:246</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:247</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/Shape.html b/static/javascript2d/classes/Shape.html
index 81882b3..83fc5b1 100644
--- a/static/javascript2d/classes/Shape.html
+++ b/static/javascript2d/classes/Shape.html
@@ -29,6 +29,7 @@ <h4>Hierarchy</h4>
 <li><a href="Triangle.html" class="tsd-signature-type" data-tsd-kind="Class">Triangle</a></li>
 <li><a href="RoundTriangle.html" class="tsd-signature-type" data-tsd-kind="Class">RoundTriangle</a></li>
 <li><a href="Polyline.html" class="tsd-signature-type" data-tsd-kind="Class">Polyline</a></li>
+<li><a href="Voxels.html" class="tsd-signature-type" data-tsd-kind="Class">Voxels</a></li>
 <li><a href="TriMesh.html" class="tsd-signature-type" data-tsd-kind="Class">TriMesh</a></li>
 <li><a href="ConvexPolygon.html" class="tsd-signature-type" data-tsd-kind="Class">ConvexPolygon</a></li>
 <li><a href="RoundConvexPolygon.html" class="tsd-signature-type" data-tsd-kind="Class">RoundConvexPolygon</a></li>
@@ -180,7 +181,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
diff --git a/static/javascript2d/classes/ShapeColliderTOI.html b/static/javascript2d/classes/ShapeColliderTOI.html
deleted file mode 100644
index ec9c23c..0000000
--- a/static/javascript2d/classes/ShapeColliderTOI.html
+++ /dev/null
@@ -1,183 +0,0 @@
-<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>ShapeColliderTOI | @dimforge/rapier2d</title><meta name="description" content="Documentation for @dimforge/rapier2d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
-<div class="tsd-toolbar-contents container">
-<div class="table-cell" id="tsd-search" data-base="..">
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-<div class="field">
-<div id="tsd-toolbar-links"></div></div>
-<ul class="results">
-<li class="state loading">Preparing search index...</li>
-<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier2d</a></div>
-<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
-<div class="container container-main">
-<div class="col-8 col-content">
-<div class="tsd-page-title">
-<ul class="tsd-breadcrumb">
-<li><a href="../index.html">@dimforge/rapier2d</a></li>
-<li><a href="ShapeColliderTOI.html">ShapeColliderTOI</a></li></ul>
-<h1>Class ShapeColliderTOI</h1></div>
-<section class="tsd-panel tsd-comment">
-<div class="tsd-comment tsd-typography"><p>The intersection between a ray and a collider.</p>
-</div></section>
-<section class="tsd-panel tsd-hierarchy">
-<h4>Hierarchy</h4>
-<ul class="tsd-hierarchy">
-<li><a href="ShapeTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeTOI</a>
-<ul class="tsd-hierarchy">
-<li><span class="target">ShapeColliderTOI</span></li></ul></li></ul></section><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:39</li></ul></aside>
-<section class="tsd-panel-group tsd-index-group">
-<section class="tsd-panel tsd-index-panel">
-<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
-<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
-<div class="tsd-accordion-details">
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Constructors</h3>
-<div class="tsd-index-list"><a href="ShapeColliderTOI.html#constructor" class="tsd-index-link tsd-kind-constructor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#4D7FFF" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-512-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-512-text"></path></svg><span>constructor</span></a>
-</div></section>
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Properties</h3>
-<div class="tsd-index-list"><a href="ShapeColliderTOI.html#collider" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>collider</span></a>
-<a href="ShapeColliderTOI.html#normal1" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>normal1</span></a>
-<a href="ShapeColliderTOI.html#normal2" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>normal2</span></a>
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-<a href="ShapeColliderTOI.html#witness1" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>witness1</span></a>
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-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Methods</h3>
-<div class="tsd-index-list"><a href="ShapeColliderTOI.html#fromRaw" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4DB8" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-2048-path"></rect><path d="M9.162 16V7.24H10.578L11.514 10.072C11.602 10.328 11.674 10.584 11.73 10.84C11.794 11.088 11.842 11.28 11.874 11.416C11.906 11.28 11.954 11.088 12.018 10.84C12.082 10.584 12.154 10.324 12.234 10.06L13.122 7.24H14.538V16H13.482V12.82C13.482 12.468 13.49 12.068 13.506 11.62C13.53 11.172 13.558 10.716 13.59 10.252C13.622 9.78 13.654 9.332 13.686 8.908C13.726 8.476 13.762 8.1 13.794 7.78L12.366 12.16H11.334L9.894 7.78C9.934 8.092 9.97 8.456 10.002 8.872C10.042 9.28 10.078 9.716 10.11 10.18C10.142 10.636 10.166 11.092 10.182 11.548C10.206 12.004 10.218 12.428 10.218 12.82V16H9.162Z" fill="var(--color-text)" id="icon-2048-text"></path></svg><span>from<wbr/>Raw</span></a>
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-<li>Defined in geometry/toi.d.ts:44</li></ul></aside></li></ul></section></section>
-<section class="tsd-panel-group tsd-member-group">
-<h2>Properties</h2>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="collider" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>collider</span><a href="#collider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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-<li><a href="../index.html">@dimforge/rapier2d</a></li>
-<li><a href="ShapeTOI.html">ShapeTOI</a></li></ul>
-<h1>Class ShapeTOI</h1></div>
-<section class="tsd-panel tsd-comment">
-<div class="tsd-comment tsd-typography"><p>The intersection between a ray and a collider.</p>
-</div></section>
-<section class="tsd-panel tsd-hierarchy">
-<h4>Hierarchy</h4>
-<ul class="tsd-hierarchy">
-<li><span class="target">ShapeTOI</span>
-<ul class="tsd-hierarchy">
-<li><a href="ShapeColliderTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeColliderTOI</a></li></ul></li></ul></section><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:8</li></ul></aside>
-<section class="tsd-panel-group tsd-index-group">
-<section class="tsd-panel tsd-index-panel">
-<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
-<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
-<div class="tsd-accordion-details">
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Constructors</h3>
-<div class="tsd-index-list"><a href="ShapeTOI.html#constructor" class="tsd-index-link tsd-kind-constructor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#4D7FFF" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-512-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-512-text"></path></svg><span>constructor</span></a>
-</div></section>
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Properties</h3>
-<div class="tsd-index-list"><a href="ShapeTOI.html#normal1" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>normal1</span></a>
-<a href="ShapeTOI.html#normal2" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>normal2</span></a>
-<a href="ShapeTOI.html#toi" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>toi</span></a>
-<a href="ShapeTOI.html#witness1" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>witness1</span></a>
-<a href="ShapeTOI.html#witness2" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>witness2</span></a>
-</div></section>
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Methods</h3>
-<div class="tsd-index-list"><a href="ShapeTOI.html#fromRaw" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4DB8" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-2048-path"></rect><path d="M9.162 16V7.24H10.578L11.514 10.072C11.602 10.328 11.674 10.584 11.73 10.84C11.794 11.088 11.842 11.28 11.874 11.416C11.906 11.28 11.954 11.088 12.018 10.84C12.082 10.584 12.154 10.324 12.234 10.06L13.122 7.24H14.538V16H13.482V12.82C13.482 12.468 13.49 12.068 13.506 11.62C13.53 11.172 13.558 10.716 13.59 10.252C13.622 9.78 13.654 9.332 13.686 8.908C13.726 8.476 13.762 8.1 13.794 7.78L12.366 12.16H11.334L9.894 7.78C9.934 8.092 9.97 8.456 10.002 8.872C10.042 9.28 10.078 9.716 10.11 10.18C10.142 10.636 10.166 11.092 10.182 11.548C10.206 12.004 10.218 12.428 10.218 12.82V16H9.162Z" fill="var(--color-text)" id="icon-2048-text"></path></svg><span>from<wbr/>Raw</span></a>
-</div></section></div></details></section></section>
-<section class="tsd-panel-group tsd-member-group">
-<h2>Constructors</h2>
-<section class="tsd-panel tsd-member tsd-kind-constructor tsd-parent-kind-class"><a id="constructor" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>constructor</span><a href="#constructor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><path stroke="none" d="M0 0h24v24H0z" fill="none" id="icon-anchor-a"></path><path d="M10 14a3.5 3.5 0 0 0 5 0l4 -4a3.5 3.5 0 0 0 -5 -5l-.5 .5" id="icon-anchor-b"></path><path d="M14 10a3.5 3.5 0 0 0 -5 0l-4 4a3.5 3.5 0 0 0 5 5l.5 -.5" id="icon-anchor-c"></path></svg></a></h3>
-<ul class="tsd-signatures tsd-kind-constructor tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="constructor.new_ShapeTOI">new <wbr/>ShapeTOI<span class="tsd-signature-symbol">(</span>toi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, witness1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, witness2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, normal1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, normal2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeTOI</a><a href="#constructor.new_ShapeTOI" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
-<li class="tsd-description">
-<div class="tsd-parameters">
-<h4 class="tsd-parameters-title">Parameters</h4>
-<ul class="tsd-parameter-list">
-<li>
-<h5>toi: <span class="tsd-signature-type">number</span></h5></li>
-<li>
-<h5>witness1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
-<li>
-<h5>witness2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
-<li>
-<h5>normal1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
-<li>
-<h5>normal2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
-<h4 class="tsd-returns-title">Returns <a href="ShapeTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeTOI</a></h4><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:33</li></ul></aside></li></ul></section></section>
-<section class="tsd-panel-group tsd-member-group">
-<h2>Properties</h2>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="normal1" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>normal1</span><a href="#normal1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">normal1<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
-<div class="tsd-comment tsd-typography"><p>The local-space normal on the first shape, at
-the time of impact.</p>
-</div><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:27</li></ul></aside></section>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="normal2" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>normal2</span><a href="#normal2" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">normal2<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
-<div class="tsd-comment tsd-typography"><p>The local-space normal on the second shape, at
-the time of impact.</p>
-</div><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:32</li></ul></aside></section>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="toi" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>toi</span><a href="#toi" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">toi<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
-<div class="tsd-comment tsd-typography"><p>The time of impact of the two shapes.</p>
-</div><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:12</li></ul></aside></section>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="witness1" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>witness1</span><a href="#witness1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">witness1<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
-<div class="tsd-comment tsd-typography"><p>The local-space contact point on the first shape, at
-the time of impact.</p>
-</div><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:17</li></ul></aside></section>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="witness2" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>witness2</span><a href="#witness2" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">witness2<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
-<div class="tsd-comment tsd-typography"><p>The local-space contact point on the second shape, at
-the time of impact.</p>
-</div><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:22</li></ul></aside></section></section>
-<section class="tsd-panel-group tsd-member-group">
-<h2>Methods</h2>
-<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="fromRaw" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>from<wbr/>Raw</span><a href="#fromRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="fromRaw.fromRaw-1">from<wbr/>Raw<span class="tsd-signature-symbol">(</span>colliderSet<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a>, raw<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">RawShapeTOI</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeTOI</a><a href="#fromRaw.fromRaw-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
-<li class="tsd-description">
-<div class="tsd-parameters">
-<h4 class="tsd-parameters-title">Parameters</h4>
-<ul class="tsd-parameter-list">
-<li>
-<h5>colliderSet: <a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a></h5></li>
-<li>
-<h5>raw: <span class="tsd-signature-type">RawShapeTOI</span></h5></li></ul></div>
-<h4 class="tsd-returns-title">Returns <a href="ShapeTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeTOI</a></h4><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:34</li></ul></aside></li></ul></section></section></div>
-<div class="col-4 col-menu menu-sticky-wrap menu-highlight">
-<div class="tsd-navigation settings">
-<details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
-<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Settings</h3></summary>
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diff --git a/static/javascript2d/classes/TriMesh.html b/static/javascript2d/classes/TriMesh.html
index 7c10e1e..8063c58 100644
--- a/static/javascript2d/classes/TriMesh.html
+++ b/static/javascript2d/classes/TriMesh.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">TriMesh</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:335</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:364</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -80,7 +80,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> flags: <a href="../enu
 <h4 class="tsd-returns-title">Returns <a href="TriMesh.html" class="tsd-signature-type" data-tsd-kind="Class">TriMesh</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:355</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:384</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="flags" class="tsd-anchor"></a>
@@ -89,27 +89,27 @@ <h3 class="tsd-anchor-link"><span>flags</span><a href="#flags" aria-label="Perma
 <div class="tsd-comment tsd-typography"><p>The triangle mesh flags.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:348</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:377</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="indices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>indices</span><a href="#indices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">indices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Uint32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The indices of the triangles.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:344</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:373</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#TriMesh" class="tsd-signature-type" data-tsd-kind="Enumeration Member">TriMesh</a><span class="tsd-signature-symbol"> = ShapeType.TriMesh</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:336</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:365</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The vertices of the triangle mesh.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:340</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:369</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -211,7 +211,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -339,7 +339,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:356</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:385</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/Triangle.html b/static/javascript2d/classes/Triangle.html
index a1087e1..8f269df 100644
--- a/static/javascript2d/classes/Triangle.html
+++ b/static/javascript2d/classes/Triangle.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Triangle</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:251</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:252</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -82,7 +82,7 @@ <h5>c: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-k
 <h4 class="tsd-returns-title">Returns <a href="Triangle.html" class="tsd-signature-type" data-tsd-kind="Class">Triangle</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:272</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:273</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="a" class="tsd-anchor"></a>
@@ -91,27 +91,27 @@ <h3 class="tsd-anchor-link"><span>a</span><a href="#a" aria-label="Permalink" cl
 <div class="tsd-comment tsd-typography"><p>The first point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:256</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:257</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="b" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>b</span><a href="#b" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">b<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:260</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:261</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="c" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>c</span><a href="#c" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">c<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:264</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:265</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Triangle" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Triangle</a><span class="tsd-signature-symbol"> = ShapeType.Triangle</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:252</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:253</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -213,7 +213,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -341,7 +341,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:273</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:274</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript2d/classes/Voxels.html b/static/javascript2d/classes/Voxels.html
new file mode 100644
index 0000000..18df047
--- /dev/null
+++ b/static/javascript2d/classes/Voxels.html
@@ -0,0 +1,418 @@
+<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Voxels | @dimforge/rapier2d</title><meta name="description" content="Documentation for @dimforge/rapier2d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
+<div class="tsd-toolbar-contents container">
+<div class="table-cell" id="tsd-search" data-base="..">
+<div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M15.7824 13.833L12.6666 10.7177C12.5259 10.5771 12.3353 10.499 12.1353 10.499H11.6259C12.4884 9.39596 13.001 8.00859 13.001 6.49937C13.001 2.90909 10.0914 0 6.50048 0C2.90959 0 0 2.90909 0 6.49937C0 10.0896 2.90959 12.9987 6.50048 12.9987C8.00996 12.9987 9.39756 12.4863 10.5008 11.6239V12.1332C10.5008 12.3332 10.5789 12.5238 10.7195 12.6644L13.8354 15.7797C14.1292 16.0734 14.6042 16.0734 14.8948 15.7797L15.7793 14.8954C16.0731 14.6017 16.0731 14.1267 15.7824 13.833ZM6.50048 10.499C4.29094 10.499 2.50018 8.71165 2.50018 6.49937C2.50018 4.29021 4.28781 2.49976 6.50048 2.49976C8.71001 2.49976 10.5008 4.28708 10.5008 6.49937C10.5008 8.70852 8.71314 10.499 6.50048 10.499Z" fill="var(--color-text)"></path></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div>
+<div class="field">
+<div id="tsd-toolbar-links"></div></div>
+<ul class="results">
+<li class="state loading">Preparing search index...</li>
+<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier2d</a></div>
+<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
+<div class="container container-main">
+<div class="col-8 col-content">
+<div class="tsd-page-title">
+<ul class="tsd-breadcrumb">
+<li><a href="../index.html">@dimforge/rapier2d</a></li>
+<li><a href="Voxels.html">Voxels</a></li></ul>
+<h1>Class Voxels</h1></div>
+<section class="tsd-panel tsd-comment">
+<div class="tsd-comment tsd-typography"><p>A shape made of voxels.</p>
+</div></section>
+<section class="tsd-panel tsd-hierarchy">
+<h4>Hierarchy</h4>
+<ul class="tsd-hierarchy">
+<li><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a>
+<ul class="tsd-hierarchy">
+<li><span class="target">Voxels</span></li></ul></li></ul></section><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/shape.d.ts:336</li></ul></aside>
+<section class="tsd-panel-group tsd-index-group">
+<section class="tsd-panel tsd-index-panel">
+<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
+<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
+<div class="tsd-accordion-details">
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Constructors</h3>
+<div class="tsd-index-list"><a href="Voxels.html#constructor" class="tsd-index-link tsd-kind-constructor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#4D7FFF" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-512-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-512-text"></path></svg><span>constructor</span></a>
+</div></section>
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Properties</h3>
+<div class="tsd-index-list"><a href="Voxels.html#data" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>data</span></a>
+<a href="Voxels.html#type" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>type</span></a>
+<a href="Voxels.html#voxelSize" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>voxel<wbr/>Size</span></a>
+</div></section>
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Methods</h3>
+<div class="tsd-index-list"><a href="Voxels.html#castRay" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4DB8" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-2048-path"></rect><path d="M9.162 16V7.24H10.578L11.514 10.072C11.602 10.328 11.674 10.584 11.73 10.84C11.794 11.088 11.842 11.28 11.874 11.416C11.906 11.28 11.954 11.088 12.018 10.84C12.082 10.584 12.154 10.324 12.234 10.06L13.122 7.24H14.538V16H13.482V12.82C13.482 12.468 13.49 12.068 13.506 11.62C13.53 11.172 13.558 10.716 13.59 10.252C13.622 9.78 13.654 9.332 13.686 8.908C13.726 8.476 13.762 8.1 13.794 7.78L12.366 12.16H11.334L9.894 7.78C9.934 8.092 9.97 8.456 10.002 8.872C10.042 9.28 10.078 9.716 10.11 10.18C10.142 10.636 10.166 11.092 10.182 11.548C10.206 12.004 10.218 12.428 10.218 12.82V16H9.162Z" fill="var(--color-text)" id="icon-2048-text"></path></svg><span>cast<wbr/>Ray</span></a>
+<a href="Voxels.html#castRayAndGetNormal" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span></a>
+<a href="Voxels.html#castShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Shape</span></a>
+<a href="Voxels.html#contactShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contact<wbr/>Shape</span></a>
+<a href="Voxels.html#containsPoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contains<wbr/>Point</span></a>
+<a href="Voxels.html#intersectsRay" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>intersects<wbr/>Ray</span></a>
+<a href="Voxels.html#intersectsShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>intersects<wbr/>Shape</span></a>
+<a href="Voxels.html#intoRaw" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>into<wbr/>Raw</span></a>
+<a href="Voxels.html#projectPoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>project<wbr/>Point</span></a>
+<a href="Voxels.html#fromRaw" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>from<wbr/>Raw</span></a>
+</div></section></div></details></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Constructors</h2>
+<section class="tsd-panel tsd-member tsd-kind-constructor tsd-parent-kind-class"><a id="constructor" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>constructor</span><a href="#constructor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><path stroke="none" d="M0 0h24v24H0z" fill="none" id="icon-anchor-a"></path><path d="M10 14a3.5 3.5 0 0 0 5 0l4 -4a3.5 3.5 0 0 0 -5 -5l-.5 .5" id="icon-anchor-b"></path><path d="M14 10a3.5 3.5 0 0 0 -5 0l-4 4a3.5 3.5 0 0 0 5 5l.5 -.5" id="icon-anchor-c"></path></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-constructor tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="constructor.new_Voxels">new <wbr/>Voxels<span class="tsd-signature-symbol">(</span>data<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span>, voxelSize<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="Voxels.html" class="tsd-signature-type" data-tsd-kind="Class">Voxels</a><a href="#constructor.new_Voxels" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Creates a new shape made of voxels.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>data: <span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span></h5>
+<div class="tsd-comment tsd-typography"><p>Defines the set of voxels. If this is a <code>Int32Array</code> then
+              each voxel is defined from its (signed) grid coordinates,
+              with 3 (resp 2) contiguous integers per voxel in 3D (resp 2D).
+              If this is a <code>Float32Array</code>, each voxel will be such that
+              they contain at least one point from this array (where each
+              point is defined from 3 (resp 2) contiguous numbers per point
+              in 3D (resp 2D).</p>
+</div></li>
+<li>
+<h5>voxelSize: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The size of each voxel.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="Voxels.html" class="tsd-signature-type" data-tsd-kind="Class">Voxels</a></h4><aside class="tsd-sources">
+<p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:358</li></ul></aside></li></ul></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Properties</h2>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="data" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>data</span><a href="#data" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">data<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span></div>
+<div class="tsd-comment tsd-typography"><p>The points or grid coordinates used to initialize the voxels.</p>
+</div><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/shape.d.ts:341</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Voxels" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Voxels</a><span class="tsd-signature-symbol"> = ShapeType.Voxels</span></div><aside class="tsd-sources">
+<p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:337</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="voxelSize" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>voxel<wbr/>Size</span><a href="#voxelSize" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">voxel<wbr/>Size<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
+<div class="tsd-comment tsd-typography"><p>The dimensions of each voxel.</p>
+</div><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/shape.d.ts:345</li></ul></aside></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Methods</h2>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>cast<wbr/>Ray</span><a href="#castRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="castRay.castRay-1">cast<wbr/>Ray<span class="tsd-signature-symbol">(</span>ray<span class="tsd-signature-symbol">: </span><a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a>, shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, maxToi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, solid<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><a href="#castRay.castRay-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ray: <a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a></h5></li>
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>maxToi: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>solid: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castRay">castRay</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:64</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRayAndGetNormal" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span><a href="#castRayAndGetNormal" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="castRayAndGetNormal.castRayAndGetNormal-1">cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal<span class="tsd-signature-symbol">(</span>ray<span class="tsd-signature-symbol">: </span><a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a>, shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, maxToi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, solid<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="RayIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayIntersection</a><a href="#castRayAndGetNormal.castRayAndGetNormal-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ray: <a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a></h5></li>
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>maxToi: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>solid: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="RayIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayIntersection</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castRayAndGetNormal">castRayAndGetNormal</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:65</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castShape" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>cast<wbr/>Shape</span><a href="#castShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="castShape.castShape-1">cast<wbr/>Shape<span class="tsd-signature-symbol">(</span>shapePos1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot1<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shapeVel1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shape2<span class="tsd-signature-symbol">: </span><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a>, shapePos2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot2<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shapeVel2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, targetDistance<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, maxToi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, stopAtPenetration<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a><a href="#castShape.castShape-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Computes the time of impact between two moving shapes.</p>
+
+<h3>Returns</h3><p>If the two moving shapes collider at some point along their trajectories, this returns the
+ time at which the two shape collider as well as the contact information during the impact. Returns
+ <code>null</code>if the two shapes never collide along their paths.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The initial position of this sahpe.</p>
+</div></li>
+<li>
+<h5>shapeRot1: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of this shape.</p>
+</div></li>
+<li>
+<h5>shapeVel1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The velocity of this shape.</p>
+</div></li>
+<li>
+<h5>shape2: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></h5>
+<div class="tsd-comment tsd-typography"><p>The second moving shape.</p>
+</div></li>
+<li>
+<h5>shapePos2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The initial position of the second shape.</p>
+</div></li>
+<li>
+<h5>shapeRot2: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of the second shape.</p>
+</div></li>
+<li>
+<h5>shapeVel2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The velocity of the second shape.</p>
+</div></li>
+<li>
+<h5>targetDistance: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>− If the shape moves closer to this distance from a collider, a hit
+                        will be returned.</p>
+</div></li>
+<li>
+<h5>maxToi: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The maximum time when the impact can happen.</p>
+</div></li>
+<li>
+<h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
+<div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
+  the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
+  that it’s on a path to exit that penetration state.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:37</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="contactShape" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>contact<wbr/>Shape</span><a href="#contactShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="contactShape.contactShape-1">contact<wbr/>Shape<span class="tsd-signature-symbol">(</span>shapePos1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot1<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shape2<span class="tsd-signature-symbol">: </span><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a>, shapePos2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot2<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, prediction<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeContact.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeContact</a><a href="#contactShape.contactShape-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Computes one pair of contact points between two shapes.</p>
+
+<h3>Returns</h3><p><code>null</code> if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The initial position of this sahpe.</p>
+</div></li>
+<li>
+<h5>shapeRot1: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of this shape.</p>
+</div></li>
+<li>
+<h5>shape2: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></h5>
+<div class="tsd-comment tsd-typography"><p>The second shape.</p>
+</div></li>
+<li>
+<h5>shapePos2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The initial position of the second shape.</p>
+</div></li>
+<li>
+<h5>shapeRot2: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of the second shape.</p>
+</div></li>
+<li>
+<h5>prediction: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The prediction value, if the shapes are separated by a distance greater than this value, test will fail.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="ShapeContact.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeContact</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#contactShape">contactShape</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:60</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="containsPoint" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>contains<wbr/>Point</span><a href="#containsPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="containsPoint.containsPoint-1">contains<wbr/>Point<span class="tsd-signature-symbol">(</span>shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, point<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><a href="#containsPoint.containsPoint-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>point: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#containsPoint">containsPoint</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:61</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="intersectsRay" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>intersects<wbr/>Ray</span><a href="#intersectsRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="intersectsRay.intersectsRay-1">intersects<wbr/>Ray<span class="tsd-signature-symbol">(</span>ray<span class="tsd-signature-symbol">: </span><a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a>, shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, maxToi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><a href="#intersectsRay.intersectsRay-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ray: <a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a></h5></li>
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>maxToi: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#intersectsRay">intersectsRay</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:63</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="intersectsShape" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>intersects<wbr/>Shape</span><a href="#intersectsShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="intersectsShape.intersectsShape-1">intersects<wbr/>Shape<span class="tsd-signature-symbol">(</span>shapePos1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot1<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shape2<span class="tsd-signature-symbol">: </span><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a>, shapePos2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot2<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><a href="#intersectsShape.intersectsShape-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Tests if this shape intersects another shape.</p>
+
+<h3>Returns</h3><p><code>true</code> if the two shapes intersect, <code>false</code> if they don’t.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The position of this shape.</p>
+</div></li>
+<li>
+<h5>shapeRot1: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of this shape.</p>
+</div></li>
+<li>
+<h5>shape2: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></h5>
+<div class="tsd-comment tsd-typography"><p>The second shape to test.</p>
+</div></li>
+<li>
+<h5>shapePos2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The position of the second shape.</p>
+</div></li>
+<li>
+<h5>shapeRot2: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of the second shape.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#intersectsShape">intersectsShape</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:48</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intoRaw" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="intoRaw.intoRaw-1">into<wbr/>Raw<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">RawShape</span><a href="#intoRaw.intoRaw-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
+<p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:359</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="projectPoint.projectPoint-1">project<wbr/>Point<span class="tsd-signature-symbol">(</span>shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, point<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, solid<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="PointProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointProjection</a><a href="#projectPoint.projectPoint-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>point: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>solid: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="PointProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointProjection</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#projectPoint">projectPoint</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:62</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="fromRaw" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>from<wbr/>Raw</span><a href="#fromRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="fromRaw.fromRaw-1">from<wbr/>Raw<span class="tsd-signature-symbol">(</span>rawSet<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">RawColliderSet</span>, handle<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a><a href="#fromRaw.fromRaw-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>instant mode without cache</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>rawSet: <span class="tsd-signature-type">RawColliderSet</span></h5></li>
+<li>
+<h5>handle: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#fromRaw">fromRaw</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:17</li></ul></aside></li></ul></section></section></div>
+<div class="col-4 col-menu menu-sticky-wrap menu-highlight">
+<div class="tsd-navigation settings">
+<details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
+<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Settings</h3></summary>
+<div class="tsd-accordion-details">
+<div class="tsd-filter-visibility">
+<h4 class="uppercase">Member Visibility</h4><form>
+<ul id="tsd-filter-options">
+<li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-protected" name="protected"/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Protected</span></label></li>
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+<div class="tsd-theme-toggle">
+<h4 class="uppercase">Theme</h4><select id="theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div>
+<nav class="tsd-navigation primary">
+<details class="tsd-index-accordion" open><summary class="tsd-accordion-summary">
+<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Modules</h3></summary>
+<div class="tsd-accordion-details">
+<ul>
+<li><a href="../index.html">@dimforge/rapier2d</a>
+<ul>
+<li class="tsd-kind-namespace"><a href="../modules/default.html">default</a></li></ul></li></ul></div></details></nav>
+<nav class="tsd-navigation secondary menu-sticky">
+<ul>
+<li class="current tsd-kind-class"><a href="Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-class)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-128-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-128-text"></path></svg><span>Voxels</span></a>
+<ul>
+<li class="tsd-kind-constructor tsd-parent-kind-class"><a href="Voxels.html#constructor" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-512-path"></use><use href="#icon-512-text"></use></svg>constructor</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class"><a href="Voxels.html#data" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>data</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class"><a href="Voxels.html#type" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>type</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class"><a href="Voxels.html#voxelSize" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>voxel<wbr/>Size</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#castRay" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>cast<wbr/>Ray</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#castRayAndGetNormal" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#castShape" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>cast<wbr/>Shape</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#contactShape" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>contact<wbr/>Shape</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#containsPoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>contains<wbr/>Point</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#intersectsRay" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>intersects<wbr/>Ray</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#intersectsShape" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>intersects<wbr/>Shape</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Voxels.html#intoRaw" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>into<wbr/>Raw</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#projectPoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>project<wbr/>Point</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#fromRaw" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>from<wbr/>Raw</a></li></ul></li></ul></nav></div></div>
+<div class="container tsd-generator">
+<p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
+<div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/classes/World.html b/static/javascript2d/classes/World.html
index a7d814e..a801bda 100644
--- a/static/javascript2d/classes/World.html
+++ b/static/javascript2d/classes/World.html
@@ -50,6 +50,7 @@ <h3 class="tsd-index-heading">Properties</h3>
 <a href="World.html#multibodyJoints" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>multibody<wbr/>Joints</span></a>
 <a href="World.html#narrowPhase" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>narrow<wbr/>Phase</span></a>
 <a href="World.html#physicsPipeline" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>physics<wbr/>Pipeline</span></a>
+<a href="World.html#pidControllers" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>pid<wbr/>Controllers</span></a>
 <a href="World.html#queryPipeline" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>query<wbr/>Pipeline</span></a>
 <a href="World.html#serializationPipeline" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>serialization<wbr/>Pipeline</span></a>
 </div></section>
@@ -73,6 +74,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="World.html#createCollider" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Collider</span></a>
 <a href="World.html#createImpulseJoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Impulse<wbr/>Joint</span></a>
 <a href="World.html#createMultibodyJoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Multibody<wbr/>Joint</span></a>
+<a href="World.html#createPidController" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Pid<wbr/>Controller</span></a>
 <a href="World.html#createRigidBody" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Rigid<wbr/>Body</span></a>
 <a href="World.html#debugRender" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>debug<wbr/>Render</span></a>
 <a href="World.html#forEachActiveRigidBody" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>for<wbr/>Each<wbr/>Active<wbr/>Rigid<wbr/>Body</span></a>
@@ -96,6 +98,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="World.html#removeCollider" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Collider</span></a>
 <a href="World.html#removeImpulseJoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Impulse<wbr/>Joint</span></a>
 <a href="World.html#removeMultibodyJoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Multibody<wbr/>Joint</span></a>
+<a href="World.html#removePidController" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Pid<wbr/>Controller</span></a>
 <a href="World.html#removeRigidBody" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Rigid<wbr/>Body</span></a>
 <a href="World.html#step" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>step</span></a>
 <a href="World.html#switchToSmallStepsPgsSolver" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<wbr/>Solver</span></a>
@@ -146,7 +149,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> rawSerializationPipeli
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> rawDebugRenderPipeline: <span class="tsd-signature-type">RawDebugRenderPipeline</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="World.html" class="tsd-signature-type" data-tsd-kind="Class">World</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:41</li></ul></aside></li></ul></section></section>
+<li>Defined in pipeline/world.d.ts:42</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="bodies" class="tsd-anchor"></a>
@@ -214,6 +217,11 @@ <h3 class="tsd-anchor-link"><span>physics<wbr/>Pipeline</span><a href="#physicsP
 <div class="tsd-signature">physics<wbr/>Pipeline<span class="tsd-signature-symbol">:</span> <a href="PhysicsPipeline.html" class="tsd-signature-type" data-tsd-kind="Class">PhysicsPipeline</a></div><aside class="tsd-sources">
 <ul>
 <li>Defined in pipeline/world.d.ts:30</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="pidControllers" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>pid<wbr/>Controllers</span><a href="#pidControllers" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">pid<wbr/>Controllers<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Set</span><span class="tsd-signature-symbol">&lt;</span><a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a><span class="tsd-signature-symbol">&gt;</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in pipeline/world.d.ts:34</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="queryPipeline" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>query<wbr/>Pipeline</span><a href="#queryPipeline" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">query<wbr/>Pipeline<span class="tsd-signature-symbol">:</span> <a href="QueryPipeline.html" class="tsd-signature-type" data-tsd-kind="Class">QueryPipeline</a></div><aside class="tsd-sources">
@@ -236,7 +244,7 @@ <h3 class="tsd-anchor-link"><span>length<wbr/>Unit</span><a href="#lengthUnit" a
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:105</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:110</li></ul></aside></li>
 <li class="tsd-signature" id="lengthUnit.lengthUnit-2"><span class="tsd-signature-symbol">set</span> lengthUnit<span class="tsd-signature-symbol">(</span>unitsPerMeter<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>The approximate size of most dynamic objects in the scene.</p>
@@ -258,7 +266,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>unitsPerMeter: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:121</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:126</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="numAdditionalFrictionIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>num<wbr/>Additional<wbr/>Friction<wbr/>Iterations</span><a href="#numAdditionalFrictionIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -268,7 +276,7 @@ <h3 class="tsd-anchor-link"><span>num<wbr/>Additional<wbr/>Friction<wbr/>Iterati
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:138</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:143</li></ul></aside></li>
 <li class="tsd-signature" id="numAdditionalFrictionIterations.numAdditionalFrictionIterations-2"><span class="tsd-signature-symbol">set</span> numAdditionalFrictionIterations<span class="tsd-signature-symbol">(</span>niter<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Sets the number of addition friction resolution iteration run during the last solver sub-step (default: <code>4</code>).</p>
@@ -284,7 +292,7 @@ <h5>niter: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:147</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:152</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="numInternalPgsIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>num<wbr/>Internal<wbr/>Pgs<wbr/>Iterations</span><a href="#numInternalPgsIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -294,7 +302,7 @@ <h3 class="tsd-anchor-link"><span>num<wbr/>Internal<wbr/>Pgs<wbr/>Iterations</sp
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:151</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:156</li></ul></aside></li>
 <li class="tsd-signature" id="numInternalPgsIterations.numInternalPgsIterations-2"><span class="tsd-signature-symbol">set</span> numInternalPgsIterations<span class="tsd-signature-symbol">(</span>niter<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Sets the Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: <code>1</code>).</p>
@@ -310,7 +318,7 @@ <h5>niter: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:160</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:165</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="numSolverIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>num<wbr/>Solver<wbr/>Iterations</span><a href="#numSolverIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -320,7 +328,7 @@ <h3 class="tsd-anchor-link"><span>num<wbr/>Solver<wbr/>Iterations</span><a href=
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:125</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:130</li></ul></aside></li>
 <li class="tsd-signature" id="numSolverIterations.numSolverIterations-2"><span class="tsd-signature-symbol">set</span> numSolverIterations<span class="tsd-signature-symbol">(</span>niter<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Sets the number of solver iterations run by the constraints solver for calculating forces (default: <code>4</code>).</p>
@@ -336,7 +344,7 @@ <h5>niter: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:134</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:139</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="timestep" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>timestep</span><a href="#timestep" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -346,7 +354,7 @@ <h3 class="tsd-anchor-link"><span>timestep</span><a href="#timestep" aria-label=
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:86</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:91</li></ul></aside></li>
 <li class="tsd-signature" id="timestep.timestep-2"><span class="tsd-signature-symbol">set</span> timestep<span class="tsd-signature-symbol">(</span>dt<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Sets the new simulation timestep.</p>
@@ -368,7 +376,7 @@ <h5>dt: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:99</li></ul></aside></li></ul></section></section>
+<li>Defined in pipeline/world.d.ts:104</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRay" class="tsd-anchor"></a>
@@ -419,7 +427,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayColliderHit.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:295</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:322</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRayAndGetNormal" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span><a href="#castRayAndGetNormal" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -469,7 +477,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayColliderIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderIntersection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:308</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:335</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Shape</span><a href="#castShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -512,7 +520,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li>
 <li>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> filterFlags: <a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a></h5></li>
@@ -537,7 +545,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:383</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:410</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="collidersWithAabbIntersectingAabb" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>colliders<wbr/>With<wbr/>Aabb<wbr/>Intersecting<wbr/>Aabb</span><a href="#collidersWithAabbIntersectingAabb" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -574,7 +582,7 @@ <h5>handle: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Cl
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:403</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:430</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactPair" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Pair</span><a href="#contactPair" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -614,7 +622,7 @@ <h5>flipped: <span class="tsd-signature-type">boolean</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:425</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:452</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactPairsWith" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Pairs<wbr/>With</span><a href="#contactPairsWith" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -646,7 +654,7 @@ <h5>collider2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind=
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:410</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:437</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createCharacterController" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Character<wbr/>Controller</span><a href="#createCharacterController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -663,7 +671,7 @@ <h5>offset: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="KinematicCharacterController.html" class="tsd-signature-type" data-tsd-kind="Class">KinematicCharacterController</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:175</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:180</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Collider</span><a href="#createCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -684,7 +692,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> parent: <a href="Rigid
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:188</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:215</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createImpulseJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Impulse<wbr/>Joint</span><a href="#createImpulseJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -713,7 +721,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ImpulseJoint.html" class="tsd-signature-type" data-tsd-kind="Class">ImpulseJoint</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:197</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:224</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createMultibodyJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Multibody<wbr/>Joint</span><a href="#createMultibodyJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -742,7 +750,43 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="MultibodyJoint.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJoint</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:206</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:233</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createPidController" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>create<wbr/>Pid<wbr/>Controller</span><a href="#createPidController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="createPidController.createPidController-1">create<wbr/>Pid<wbr/>Controller<span class="tsd-signature-symbol">(</span>kp<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, ki<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, kd<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a><a href="#createPidController.createPidController-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Creates a new PID (Proportional-Integral-Derivative) controller.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>kp: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The Proportional gain applied to the instantaneous linear position errors.
+            This is usually set to a multiple of the inverse of simulation step time
+            (e.g. <code>60</code> if the delta-time is <code>1.0 / 60.0</code>).</p>
+</div></li>
+<li>
+<h5>ki: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The linear gain applied to the Integral part of the PID controller.</p>
+</div></li>
+<li>
+<h5>kd: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The Derivative gain applied to the instantaneous linear velocity errors.
+            This is usually set to a value in <code>[0.0, 1.0]</code> where <code>0.0</code> implies no damping
+            (no correction of velocity errors) and <code>1.0</code> implies complete damping (velocity errors
+            are corrected in a single simulation step).</p>
+</div></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5>
+<div class="tsd-comment tsd-typography"><p>The axes affected by this controller.
+              Only coordinate axes with a bit flags set to <code>true</code> will be taken into
+              account when calculating the errors and corrections.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in pipeline/world.d.ts:202</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Rigid<wbr/>Body</span><a href="#createRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -759,17 +803,40 @@ <h5>body: <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind=
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:169</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:174</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="debugRender" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>debug<wbr/>Render</span><a href="#debugRender" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="debugRender.debugRender-1">debug<wbr/>Render<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="DebugRenderBuffers.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderBuffers</a><a href="#debugRender.debugRender-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-signature tsd-anchor-link" id="debugRender.debugRender-1">debug<wbr/>Render<span class="tsd-signature-symbol">(</span>filterFlags<span class="tsd-signature-symbol">?: </span><a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a>, filterPredicate<span class="tsd-signature-symbol">?: </span><span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol"> =&gt; </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="DebugRenderBuffers.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderBuffers</a><a href="#debugRender.debugRender-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Computes all the lines (and their colors) needed to render the scene.</p>
 </div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5><code class="tsd-tag ts-flagOptional">Optional</code> filterFlags: <a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a></h5>
+<div class="tsd-comment tsd-typography"><p>Flags for excluding whole subsets of colliders from rendering.</p>
+</div></li>
+<li>
+<h5><code class="tsd-tag ts-flagOptional">Optional</code> filterPredicate: <span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol"> =&gt; </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span></h5>
+<div class="tsd-comment tsd-typography"><p>Any collider for which this closure returns <code>false</code> will be excluded from the
+                         debug rendering.</p>
+</div>
+<ul class="tsd-parameters">
+<li class="tsd-parameter-signature">
+<ul class="tsd-signatures tsd-kind-type-literal">
+<li class="tsd-signature"><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="DebugRenderBuffers.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderBuffers</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:59</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:64</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="forEachActiveRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>for<wbr/>Each<wbr/>Active<wbr/>Rigid<wbr/>Body</span><a href="#forEachActiveRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -800,7 +867,7 @@ <h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Cla
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:282</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:309</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="forEachCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>for<wbr/>Each<wbr/>Collider</span><a href="#forEachCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -826,7 +893,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:266</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:293</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="forEachRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>for<wbr/>Each<wbr/>Rigid<wbr/>Body</span><a href="#forEachRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -852,7 +919,7 @@ <h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Cla
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:272</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:299</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="free" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -864,7 +931,7 @@ <h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permali
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:40</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:41</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="getCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>get<wbr/>Collider</span><a href="#getCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -881,7 +948,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:218</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:245</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="getImpulseJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>get<wbr/>Impulse<wbr/>Joint</span><a href="#getImpulseJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -898,7 +965,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ImpulseJoint.html" class="tsd-signature-type" data-tsd-kind="Class">ImpulseJoint</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:224</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:251</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="getMultibodyJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>get<wbr/>Multibody<wbr/>Joint</span><a href="#getMultibodyJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -915,7 +982,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="MultibodyJoint.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJoint</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:230</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:257</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="getRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>get<wbr/>Rigid<wbr/>Body</span><a href="#getRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -932,7 +999,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:212</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:239</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionPair" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersection<wbr/>Pair</span><a href="#intersectionPair" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -953,7 +1020,7 @@ <h5>collider2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind=
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:431</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:458</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionPairsWith" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersection<wbr/>Pairs<wbr/>With</span><a href="#intersectionPairsWith" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -982,7 +1049,7 @@ <h5>collider2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind=
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:415</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:442</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionWithShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersection<wbr/>With<wbr/>Shape</span><a href="#intersectionWithShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1028,7 +1095,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:332</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:359</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Point</span><a href="#intersectionsWithPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1082,7 +1149,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:363</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:390</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithRay" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Ray</span><a href="#intersectionsWithRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1147,7 +1214,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:322</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:349</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Shape</span><a href="#intersectionsWithShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1208,7 +1275,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:394</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:421</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1254,7 +1321,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointColliderProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointColliderProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:345</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:372</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPointAndGetFeature" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point<wbr/>And<wbr/>Get<wbr/>Feature</span><a href="#projectPointAndGetFeature" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1292,7 +1359,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointColliderProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointColliderProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:353</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:380</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="propagateModifiedBodyPositionsToColliders" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>propagate<wbr/>Modified<wbr/>Body<wbr/>Positions<wbr/>To<wbr/>Colliders</span><a href="#propagateModifiedBodyPositionsToColliders" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1305,7 +1372,7 @@ <h3 class="tsd-anchor-link"><span>propagate<wbr/>Modified<wbr/>Body<wbr/>Positio
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:76</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:81</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeCharacterController" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Character<wbr/>Controller</span><a href="#removeCharacterController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1322,7 +1389,7 @@ <h5>controller: <a href="KinematicCharacterController.html" class="tsd-signature
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:181</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:186</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Collider</span><a href="#removeCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1343,7 +1410,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:246</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:273</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeImpulseJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Impulse<wbr/>Joint</span><a href="#removeImpulseJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1364,7 +1431,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:253</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:280</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeMultibodyJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Multibody<wbr/>Joint</span><a href="#removeMultibodyJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1385,7 +1452,24 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:260</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:287</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removePidController" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>remove<wbr/>Pid<wbr/>Controller</span><a href="#removePidController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="removePidController.removePidController-1">remove<wbr/>Pid<wbr/>Controller<span class="tsd-signature-symbol">(</span>controller<span class="tsd-signature-symbol">: </span><a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#removePidController.removePidController-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Removes a PID controller from this world.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>controller: <a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a></h5>
+<div class="tsd-comment tsd-typography"><p>The PID controller to remove.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in pipeline/world.d.ts:208</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Rigid<wbr/>Body</span><a href="#removeRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1404,7 +1488,7 @@ <h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Cla
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:239</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:266</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="step" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>step</span><a href="#step" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1422,7 +1506,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> eventQueue: <a href="E
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> hooks: <a href="../interfaces/PhysicsHooks.html" class="tsd-signature-type" data-tsd-kind="Interface">PhysicsHooks</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:68</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:73</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="switchToSmallStepsPgsSolver" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<wbr/>Solver</span><a href="#switchToSmallStepsPgsSolver" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1430,7 +1514,7 @@ <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<
 <li class="tsd-description">
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:162</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:167</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="switchToSmallStepsPgsSolverWithoutWarmstart" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<wbr/>Solver<wbr/>Without<wbr/>Warmstart</span><a href="#switchToSmallStepsPgsSolverWithoutWarmstart" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1438,7 +1522,7 @@ <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<
 <li class="tsd-description">
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:163</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:168</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="switchToStandardPgsSolver" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Standard<wbr/>Pgs<wbr/>Solver</span><a href="#switchToStandardPgsSolver" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1446,7 +1530,7 @@ <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Standard<wbr/>Pgs<wbr/>Sol
 <li class="tsd-description">
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:161</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:166</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="takeSnapshot" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>take<wbr/>Snapshot</span><a href="#takeSnapshot" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1458,7 +1542,7 @@ <h3 class="tsd-anchor-link"><span>take<wbr/>Snapshot</span><a href="#takeSnapsho
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">Uint8Array</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:49</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:50</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="updateSceneQueries" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>update<wbr/>Scene<wbr/>Queries</span><a href="#updateSceneQueries" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1469,7 +1553,7 @@ <h3 class="tsd-anchor-link"><span>update<wbr/>Scene<wbr/>Queries</span><a href="
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:82</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:87</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="fromRaw" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>from<wbr/>Raw</span><a href="#fromRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1482,7 +1566,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>raw: <span class="tsd-signature-type">RawDeserializedWorld</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="World.html" class="tsd-signature-type" data-tsd-kind="Class">World</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:42</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:43</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restoreSnapshot" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>restore<wbr/>Snapshot</span><a href="#restoreSnapshot" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1498,7 +1582,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>data: <span class="tsd-signature-type">Uint8Array</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="World.html" class="tsd-signature-type" data-tsd-kind="Class">World</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:55</li></ul></aside></li></ul></section></section></div>
+<li>Defined in pipeline/world.d.ts:56</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
@@ -1538,6 +1622,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#multibodyJoints" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>multibody<wbr/>Joints</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#narrowPhase" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>narrow<wbr/>Phase</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#physicsPipeline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#pidControllers" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>pid<wbr/>Controllers</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#queryPipeline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>query<wbr/>Pipeline</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#serializationPipeline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>serialization<wbr/>Pipeline</a></li>
 <li class="tsd-kind-accessor tsd-parent-kind-class"><a href="World.html#lengthUnit" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg>length<wbr/>Unit</a></li>
@@ -1555,6 +1640,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createCollider" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Collider</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createImpulseJoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Impulse<wbr/>Joint</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createMultibodyJoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Multibody<wbr/>Joint</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createPidController" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createRigidBody" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Rigid<wbr/>Body</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#debugRender" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>debug<wbr/>Render</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#forEachActiveRigidBody" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>for<wbr/>Each<wbr/>Active<wbr/>Rigid<wbr/>Body</a></li>
@@ -1578,6 +1664,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeCollider" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Collider</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeImpulseJoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Impulse<wbr/>Joint</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeMultibodyJoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Multibody<wbr/>Joint</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removePidController" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeRigidBody" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Rigid<wbr/>Body</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#step" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>step</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#switchToSmallStepsPgsSolver" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<wbr/>Solver</a></li>
diff --git a/static/javascript2d/enums/JointAxesMask.html b/static/javascript2d/enums/JointAxesMask.html
index cffe22b..001761e 100644
--- a/static/javascript2d/enums/JointAxesMask.html
+++ b/static/javascript2d/enums/JointAxesMask.html
@@ -18,7 +18,7 @@ <h1>Enumeration JointAxesMask</h1></div>
 <section class="tsd-panel tsd-comment">
 <div class="tsd-comment tsd-typography"><p>An enum representing the possible joint axes of a generic joint.
 They can be ORed together, like:
-JointAxesMask.X || JointAxesMask.Y
+JointAxesMask.LinX || JointAxesMask.LinY
 to get a joint that is only free in the X and Y translational (positional) axes.</p>
 <p>Possible free axes are:</p>
 <ul>
@@ -42,9 +42,9 @@ <h3 class="tsd-index-heading">Enumeration Members</h3>
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+<a href="JointAxesMask.html#LinX" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinX</span></a>
+<a href="JointAxesMask.html#LinY" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinY</span></a>
+<a href="JointAxesMask.html#LinZ" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinZ</span></a>
 </div></section></div></details></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Enumeration Members</h2>
@@ -63,19 +63,19 @@ <h3 class="tsd-anchor-link"><span>AngZ</span><a href="#AngZ" aria-label="Permali
 <div class="tsd-signature">AngZ<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">32</span></div><aside class="tsd-sources">
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+<section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="LinX" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>LinX</span><a href="#LinX" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">LinX<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">1</span></div><aside class="tsd-sources">
 <ul>
 <li>Defined in dynamics/impulse_joint.d.ts:47</li></ul></aside></section>
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-<div class="tsd-signature">Y<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">2</span></div><aside class="tsd-sources">
+<section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="LinY" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>LinY</span><a href="#LinY" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">LinY<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">2</span></div><aside class="tsd-sources">
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-<div class="tsd-signature">Z<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">4</span></div><aside class="tsd-sources">
+<section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="LinZ" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>LinZ</span><a href="#LinZ" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">LinZ<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">4</span></div><aside class="tsd-sources">
 <ul>
 <li>Defined in dynamics/impulse_joint.d.ts:49</li></ul></aside></section></section></div>
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 <ul>
-<li>Defined in geometry/collider.d.ts:468</li></ul></aside>
+<li>Defined in geometry/collider.d.ts:525</li></ul></aside>
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 <section class="tsd-panel tsd-index-panel">
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+<li>Defined in geometry/collider.d.ts:528</li></ul></aside></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
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new file mode 100644
index 0000000..4576694
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+++ b/static/javascript2d/enums/PidAxesMask.html
@@ -0,0 +1,128 @@
+<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>PidAxesMask | @dimforge/rapier2d</title><meta name="description" content="Documentation for @dimforge/rapier2d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
+<div class="tsd-toolbar-contents container">
+<div class="table-cell" id="tsd-search" data-base="..">
+<div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M15.7824 13.833L12.6666 10.7177C12.5259 10.5771 12.3353 10.499 12.1353 10.499H11.6259C12.4884 9.39596 13.001 8.00859 13.001 6.49937C13.001 2.90909 10.0914 0 6.50048 0C2.90959 0 0 2.90909 0 6.49937C0 10.0896 2.90959 12.9987 6.50048 12.9987C8.00996 12.9987 9.39756 12.4863 10.5008 11.6239V12.1332C10.5008 12.3332 10.5789 12.5238 10.7195 12.6644L13.8354 15.7797C14.1292 16.0734 14.6042 16.0734 14.8948 15.7797L15.7793 14.8954C16.0731 14.6017 16.0731 14.1267 15.7824 13.833ZM6.50048 10.499C4.29094 10.499 2.50018 8.71165 2.50018 6.49937C2.50018 4.29021 4.28781 2.49976 6.50048 2.49976C8.71001 2.49976 10.5008 4.28708 10.5008 6.49937C10.5008 8.70852 8.71314 10.499 6.50048 10.499Z" fill="var(--color-text)"></path></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div>
+<div class="field">
+<div id="tsd-toolbar-links"></div></div>
+<ul class="results">
+<li class="state loading">Preparing search index...</li>
+<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier2d</a></div>
+<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
+<div class="container container-main">
+<div class="col-8 col-content">
+<div class="tsd-page-title">
+<ul class="tsd-breadcrumb">
+<li><a href="../index.html">@dimforge/rapier2d</a></li>
+<li><a href="PidAxesMask.html">PidAxesMask</a></li></ul>
+<h1>Enumeration PidAxesMask</h1></div>
+<section class="tsd-panel tsd-comment">
+<div class="tsd-comment tsd-typography"><p>An enum representing the possible joint axes controlled by a PidController.
+They can be ORed together, like:
+PidAxesMask.LinX || PidAxesMask.LinY
+to get a pid controller that only constraints the translational X and Y axes.</p>
+<p>Possible axes are:</p>
+<ul>
+<li><code>X</code>: X translation axis</li>
+<li><code>Y</code>: Y translation axis</li>
+<li><code>Z</code>: Z translation axis</li>
+<li><code>AngX</code>: X angular rotation axis (3D only)</li>
+<li><code>AngY</code>: Y angular rotation axis (3D only)</li>
+<li><code>AngZ</code>: Z angular rotation axis</li>
+</ul>
+</div></section><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:18</li></ul></aside>
+<section class="tsd-panel-group tsd-index-group">
+<section class="tsd-panel tsd-index-panel">
+<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
+<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
+<div class="tsd-accordion-details">
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Enumeration Members</h3>
+<div class="tsd-index-list"><a href="PidAxesMask.html#All" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>All</span></a>
+<a href="PidAxesMask.html#AllAng" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>All<wbr/>Ang</span></a>
+<a href="PidAxesMask.html#AllLin" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>All<wbr/>Lin</span></a>
+<a href="PidAxesMask.html#AngZ" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>AngZ</span></a>
+<a href="PidAxesMask.html#LinX" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinX</span></a>
+<a href="PidAxesMask.html#LinY" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinY</span></a>
+<a href="PidAxesMask.html#LinZ" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinZ</span></a>
+<a href="PidAxesMask.html#None" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>None</span></a>
+</div></section></div></details></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Enumeration Members</h2>
+<section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="All" class="tsd-anchor"></a>
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\ No newline at end of file
diff --git a/static/javascript2d/enums/ShapeType.html b/static/javascript2d/enums/ShapeType.html
index 6e99631..72c96f6 100644
--- a/static/javascript2d/enums/ShapeType.html
+++ b/static/javascript2d/enums/ShapeType.html
@@ -40,6 +40,7 @@ <h3 class="tsd-index-heading">Enumeration Members</h3>
 <a href="ShapeType.html#Segment" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>Segment</span></a>
 <a href="ShapeType.html#TriMesh" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>Tri<wbr/>Mesh</span></a>
 <a href="ShapeType.html#Triangle" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>Triangle</span></a>
+<a href="ShapeType.html#Voxels" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>Voxels</span></a>
 </div></section></div></details></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Enumeration Members</h2>
@@ -107,7 +108,12 @@ <h3 class="tsd-anchor-link"><span>Tri<wbr/>Mesh</span><a href="#TriMesh" aria-la
 <h3 class="tsd-anchor-link"><span>Triangle</span><a href="#Triangle" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">Triangle<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">5</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:76</li></ul></aside></section></section></div>
+<li>Defined in geometry/shape.d.ts:76</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="Voxels" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>Voxels</span><a href="#Voxels" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">Voxels<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">14</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/shape.d.ts:84</li></ul></aside></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
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 <li class="tsd-kind-enum-member tsd-parent-kind-enum"><a href="ShapeType.html#TriMesh" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>Tri<wbr/>Mesh</a></li>
-<li class="tsd-kind-enum-member tsd-parent-kind-enum"><a href="ShapeType.html#Triangle" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>Triangle</a></li></ul></li></ul></nav></div></div>
+<li class="tsd-kind-enum-member tsd-parent-kind-enum"><a href="ShapeType.html#Triangle" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>Triangle</a></li>
+<li class="tsd-kind-enum-member tsd-parent-kind-enum"><a href="ShapeType.html#Voxels" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>Voxels</a></li></ul></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/enums/TriMeshFlags.html b/static/javascript2d/enums/TriMeshFlags.html
index 5085b6f..04d620e 100644
--- a/static/javascript2d/enums/TriMeshFlags.html
+++ b/static/javascript2d/enums/TriMeshFlags.html
@@ -20,7 +20,7 @@ <h1>Enumeration TriMeshFlags</h1></div>
 operations involving triangle meshes.</p>
 </div></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:89</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:90</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -43,7 +43,7 @@ <h3 class="tsd-anchor-link"><span>DELETE_<wbr/>BAD_<wbr/>TOPOLOGY_<wbr/>TRIANGLE
 <div class="tsd-comment tsd-typography"><p>If set, any triangle that results in a failing half-hedge topology computation will be deleted.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:93</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:94</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="DELETE_DEGENERATE_TRIANGLES" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>DELETE_<wbr/>DEGENERATE_<wbr/>TRIANGLES</span><a href="#DELETE_DEGENERATE_TRIANGLES" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">DELETE_<wbr/>DEGENERATE_<wbr/>TRIANGLES<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">32</span></div>
@@ -53,7 +53,7 @@ <h3 class="tsd-anchor-link"><span>DELETE_<wbr/>DEGENERATE_<wbr/>TRIANGLES</span>
 the computations.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:114</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:115</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="DELETE_DUPLICATE_TRIANGLES" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>DELETE_<wbr/>DUPLICATE_<wbr/>TRIANGLES</span><a href="#DELETE_DUPLICATE_TRIANGLES" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">DELETE_<wbr/>DUPLICATE_<wbr/>TRIANGLES<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">64</span></div>
@@ -64,10 +64,10 @@ <h3 class="tsd-anchor-link"><span>DELETE_<wbr/>DUPLICATE_<wbr/>TRIANGLES</span><
 the computations.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:123</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:124</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="FIX_INTERNAL_EDGES" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>FIX_<wbr/>INTERNAL_<wbr/>EDGES</span><a href="#FIX_INTERNAL_EDGES" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">FIX_<wbr/>INTERNAL_<wbr/>EDGES<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">152</span></div>
+<div class="tsd-signature">FIX_<wbr/>INTERNAL_<wbr/>EDGES<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">144</span></div>
 <div class="tsd-comment tsd-typography"><p>If set, a special treatment will be applied to contact manifold calculation to eliminate
 or fix contacts normals that could lead to incorrect bumps in physics simulation
 (especially on flat surfaces).</p>
@@ -76,7 +76,7 @@ <h3 class="tsd-anchor-link"><span>FIX_<wbr/>INTERNAL_<wbr/>EDGES</span><a href="
 <p>/!\ NOT SUPPORTED IN THE 2D VERSION OF RAPIER.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:134</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:135</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="MERGE_DUPLICATE_VERTICES" class="tsd-anchor"></a>
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diff --git a/static/javascript2d/functions/version.html b/static/javascript2d/functions/version.html
index 0f6b623..6e0697e 100644
--- a/static/javascript2d/functions/version.html
+++ b/static/javascript2d/functions/version.html
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+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
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+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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@@ -121,6 +123,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
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-<li class="current tsd-kind-function"><a href="version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
+<li class="tsd-kind-function"><a href="reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>reserve<wbr/>Memory</a></li>
+<li class="current tsd-kind-function"><a href="version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
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 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/index.html b/static/javascript2d/index.html
index a0e3161..0a71172 100644
--- a/static/javascript2d/index.html
+++ b/static/javascript2d/index.html
@@ -30,6 +30,7 @@ <h3 class="tsd-index-heading">Enumerations</h3>
 <a href="enums/JointType.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Joint<wbr/>Type</span></a>
 <a href="enums/MassPropsMode.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Mass<wbr/>Props<wbr/>Mode</span></a>
 <a href="enums/MotorModel.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Motor<wbr/>Model</span></a>
+<a href="enums/PidAxesMask.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Pid<wbr/>Axes<wbr/>Mask</span></a>
 <a href="enums/QueryFilterFlags.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Query<wbr/>Filter<wbr/>Flags</span></a>
 <a href="enums/RigidBodyType.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Rigid<wbr/>Body<wbr/>Type</span></a>
 <a href="enums/ShapeType.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Shape<wbr/>Type</span></a>
@@ -66,6 +67,7 @@ <h3 class="tsd-index-heading">Classes</h3>
 <a href="classes/MultibodyJointSet.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Multibody<wbr/>Joint<wbr/>Set</span></a>
 <a href="classes/NarrowPhase.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Narrow<wbr/>Phase</span></a>
 <a href="classes/PhysicsPipeline.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Physics<wbr/>Pipeline</span></a>
+<a href="classes/PidController.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Pid<wbr/>Controller</span></a>
 <a href="classes/PointColliderProjection.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Point<wbr/>Collider<wbr/>Projection</span></a>
 <a href="classes/PointProjection.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Point<wbr/>Projection</span></a>
 <a href="classes/Polyline.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Polyline</span></a>
@@ -100,6 +102,7 @@ <h3 class="tsd-index-heading">Classes</h3>
 <a href="classes/UnitMultibodyJoint.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Unit<wbr/>Multibody<wbr/>Joint</span></a>
 <a href="classes/Vector2.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Vector2</span></a>
 <a href="classes/VectorOps.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Vector<wbr/>Ops</span></a>
+<a href="classes/Voxels.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Voxels</span></a>
 <a href="classes/World.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>World</span></a>
 </div></section>
 <section class="tsd-index-section">
@@ -118,7 +121,8 @@ <h3 class="tsd-index-heading">Type Aliases</h3>
 </div></section>
 <section class="tsd-index-section">
 <h3 class="tsd-index-heading">Functions</h3>
-<div class="tsd-index-list"><a href="functions/version.html" class="tsd-index-link tsd-kind-function"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg><span>version</span></a>
+<div class="tsd-index-list"><a href="functions/reserveMemory.html" class="tsd-index-link tsd-kind-function"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg><span>reserve<wbr/>Memory</span></a>
+<a href="functions/version.html" class="tsd-index-link tsd-kind-function"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg><span>version</span></a>
 </div></section></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
@@ -152,6 +156,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-enum"><a href="enums/JointType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Joint<wbr/>Type</a></li>
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 <li class="tsd-kind-enum"><a href="enums/MotorModel.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Motor<wbr/>Model</a></li>
+<li class="tsd-kind-enum"><a href="enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
 <li class="tsd-kind-enum"><a href="enums/QueryFilterFlags.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Query<wbr/>Filter<wbr/>Flags</a></li>
 <li class="tsd-kind-enum"><a href="enums/RigidBodyType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Rigid<wbr/>Body<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="enums/ShapeType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Shape<wbr/>Type</a></li>
@@ -185,6 +190,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="classes/MultibodyJointSet.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Multibody<wbr/>Joint<wbr/>Set</a></li>
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+<li class="tsd-kind-class"><a href="classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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 <li class="tsd-kind-class"><a href="classes/PointProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Projection</a></li>
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@@ -219,6 +225,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="classes/UnitMultibodyJoint.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Unit<wbr/>Multibody<wbr/>Joint</a></li>
 <li class="tsd-kind-class"><a href="classes/Vector2.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector2</a></li>
 <li class="tsd-kind-class"><a href="classes/VectorOps.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector<wbr/>Ops</a></li>
+<li class="tsd-kind-class"><a href="classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
 <li class="tsd-kind-class"><a href="classes/World.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>World</a></li>
 <li class="tsd-kind-interface"><a href="interfaces/PhysicsHooks.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-256-path"></use><use href="#icon-256-text"></use></svg>Physics<wbr/>Hooks</a></li>
 <li class="tsd-kind-interface"><a href="interfaces/Vector.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-256-path"></use><use href="#icon-256-text"></use></svg>Vector</a></li>
@@ -228,6 +235,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-type-alias"><a href="types/MultibodyJointHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Multibody<wbr/>Joint<wbr/>Handle</a></li>
 <li class="tsd-kind-type-alias"><a href="types/RigidBodyHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rigid<wbr/>Body<wbr/>Handle</a></li>
 <li class="tsd-kind-type-alias"><a href="types/Rotation.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rotation</a></li>
+<li class="tsd-kind-function"><a href="functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>reserve<wbr/>Memory</a></li>
 <li class="tsd-kind-function"><a href="functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
diff --git a/static/javascript2d/modules/default.html b/static/javascript2d/modules/default.html
index 81ae583..58e1791 100644
--- a/static/javascript2d/modules/default.html
+++ b/static/javascript2d/modules/default.html
@@ -66,6 +66,8 @@ <h3 class="tsd-index-heading">References</h3>
 <a href="default.html#NarrowPhase" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Narrow<wbr/>Phase</span></a>
 <a href="default.html#PhysicsHooks" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Physics<wbr/>Hooks</span></a>
 <a href="default.html#PhysicsPipeline" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Physics<wbr/>Pipeline</span></a>
+<a href="default.html#PidAxesMask" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Pid<wbr/>Axes<wbr/>Mask</span></a>
+<a href="default.html#PidController" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Pid<wbr/>Controller</span></a>
 <a href="default.html#PointColliderProjection" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Point<wbr/>Collider<wbr/>Projection</span></a>
 <a href="default.html#PointProjection" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Point<wbr/>Projection</span></a>
 <a href="default.html#Polyline" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Polyline</span></a>
@@ -108,7 +110,9 @@ <h3 class="tsd-index-heading">References</h3>
 <a href="default.html#Vector" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Vector</span></a>
 <a href="default.html#Vector2" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Vector2</span></a>
 <a href="default.html#VectorOps" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Vector<wbr/>Ops</span></a>
+<a href="default.html#Voxels" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Voxels</span></a>
 <a href="default.html#World" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>World</span></a>
+<a href="default.html#reserveMemory" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>reserve<wbr/>Memory</span></a>
 <a href="default.html#version" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>version</span></a>
 </div></section></div></details></section></section>
 <section class="tsd-panel-group tsd-member-group">
@@ -197,6 +201,10 @@ <h3 class="tsd-anchor-link"><span>Narrow<wbr/>Phase</span><a href="#NarrowPhase"
 <h3 class="tsd-anchor-link"><span>Physics<wbr/>Hooks</span><a href="#PhysicsHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../interfaces/PhysicsHooks.html">PhysicsHooks</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PhysicsPipeline" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>Physics<wbr/>Pipeline</span><a href="#PhysicsPipeline" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/PhysicsPipeline.html">PhysicsPipeline</a></section>
+<section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PidAxesMask" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>Pid<wbr/>Axes<wbr/>Mask</span><a href="#PidAxesMask" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../enums/PidAxesMask.html">PidAxesMask</a></section>
+<section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PidController" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>Pid<wbr/>Controller</span><a href="#PidController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/PidController.html">PidController</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PointColliderProjection" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>Point<wbr/>Collider<wbr/>Projection</span><a href="#PointColliderProjection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/PointColliderProjection.html">PointColliderProjection</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PointProjection" class="tsd-anchor"></a>
@@ -281,8 +289,12 @@ <h3 class="tsd-anchor-link"><span>Vector</span><a href="#Vector" aria-label="Per
 <h3 class="tsd-anchor-link"><span>Vector2</span><a href="#Vector2" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/Vector2.html">Vector2</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="VectorOps" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>Vector<wbr/>Ops</span><a href="#VectorOps" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/VectorOps.html">VectorOps</a></section>
+<section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="Voxels" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>Voxels</span><a href="#Voxels" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/Voxels.html">Voxels</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="World" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>World</span><a href="#World" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/World.html">World</a></section>
+<section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="reserveMemory" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>reserve<wbr/>Memory</span><a href="#reserveMemory" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../functions/reserveMemory.html">reserveMemory</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="version" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>version</span><a href="#version" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../functions/version.html">version</a></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
@@ -350,6 +362,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#NarrowPhase" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Narrow<wbr/>Phase</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PhysicsHooks" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Physics<wbr/>Hooks</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PhysicsPipeline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PidAxesMask" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
+<li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PidController" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PointColliderProjection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Point<wbr/>Collider<wbr/>Projection</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PointProjection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Point<wbr/>Projection</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#Polyline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Polyline</a></li>
@@ -392,7 +406,9 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#Vector" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Vector</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#Vector2" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Vector2</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#VectorOps" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Vector<wbr/>Ops</a></li>
+<li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#Voxels" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Voxels</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#World" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>World</a></li>
+<li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#reserveMemory" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>reserve<wbr/>Memory</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#version" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
diff --git a/static/javascript2d/types/ColliderHandle.html b/static/javascript2d/types/ColliderHandle.html
index 500274d..019efc8 100644
--- a/static/javascript2d/types/ColliderHandle.html
+++ b/static/javascript2d/types/ColliderHandle.html
@@ -52,6 +52,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-enum"><a href="../enums/JointType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Joint<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MassPropsMode.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Mass<wbr/>Props<wbr/>Mode</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MotorModel.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Motor<wbr/>Model</a></li>
+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
 <li class="tsd-kind-enum"><a href="../enums/QueryFilterFlags.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Query<wbr/>Filter<wbr/>Flags</a></li>
 <li class="tsd-kind-enum"><a href="../enums/RigidBodyType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Rigid<wbr/>Body<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/ShapeType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Shape<wbr/>Type</a></li>
@@ -85,6 +86,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/MultibodyJointSet.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Multibody<wbr/>Joint<wbr/>Set</a></li>
 <li class="tsd-kind-class"><a href="../classes/NarrowPhase.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Narrow<wbr/>Phase</a></li>
 <li class="tsd-kind-class"><a href="../classes/PhysicsPipeline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-class"><a href="../classes/PointColliderProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Collider<wbr/>Projection</a></li>
 <li class="tsd-kind-class"><a href="../classes/PointProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Projection</a></li>
 <li class="tsd-kind-class"><a href="../classes/Polyline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Polyline</a></li>
@@ -119,6 +121,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/UnitMultibodyJoint.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Unit<wbr/>Multibody<wbr/>Joint</a></li>
 <li class="tsd-kind-class"><a href="../classes/Vector2.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector2</a></li>
 <li class="tsd-kind-class"><a href="../classes/VectorOps.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector<wbr/>Ops</a></li>
+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
 <li class="tsd-kind-class"><a href="../classes/World.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>World</a></li>
 <li class="tsd-kind-interface"><a href="../interfaces/PhysicsHooks.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-interface)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-256-path"></rect><path d="M9.51 16V15.016H11.298V8.224H9.51V7.24H14.19V8.224H12.402V15.016H14.19V16H9.51Z" fill="var(--color-text)" id="icon-256-text"></path></svg>Physics<wbr/>Hooks</a></li>
 <li class="tsd-kind-interface"><a href="../interfaces/Vector.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-256-path"></use><use href="#icon-256-text"></use></svg>Vector</a></li>
@@ -128,7 +131,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-type-alias"><a href="MultibodyJointHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Multibody<wbr/>Joint<wbr/>Handle</a></li>
 <li class="tsd-kind-type-alias"><a href="RigidBodyHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rigid<wbr/>Body<wbr/>Handle</a></li>
 <li class="tsd-kind-type-alias"><a href="Rotation.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rotation</a></li>
-<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
+<li class="tsd-kind-function"><a href="../functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>reserve<wbr/>Memory</a></li>
+<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/types/ImpulseJointHandle.html b/static/javascript2d/types/ImpulseJointHandle.html
index b34387f..a6c2c39 100644
--- a/static/javascript2d/types/ImpulseJointHandle.html
+++ b/static/javascript2d/types/ImpulseJointHandle.html
@@ -52,6 +52,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-enum"><a href="../enums/JointType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Joint<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MassPropsMode.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Mass<wbr/>Props<wbr/>Mode</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MotorModel.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Motor<wbr/>Model</a></li>
+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
 <li class="tsd-kind-enum"><a href="../enums/QueryFilterFlags.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Query<wbr/>Filter<wbr/>Flags</a></li>
 <li class="tsd-kind-enum"><a href="../enums/RigidBodyType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Rigid<wbr/>Body<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/ShapeType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Shape<wbr/>Type</a></li>
@@ -85,6 +86,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/MultibodyJointSet.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Multibody<wbr/>Joint<wbr/>Set</a></li>
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 <li class="tsd-kind-class"><a href="../classes/PhysicsPipeline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
 <li class="tsd-kind-class"><a href="../classes/World.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>World</a></li>
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@@ -128,7 +131,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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-<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
+<li class="tsd-kind-function"><a href="../functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>reserve<wbr/>Memory</a></li>
+<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/types/InteractionGroups.html b/static/javascript2d/types/InteractionGroups.html
index a81c831..4dfefb3 100644
--- a/static/javascript2d/types/InteractionGroups.html
+++ b/static/javascript2d/types/InteractionGroups.html
@@ -66,6 +66,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
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@@ -99,6 +100,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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@@ -133,6 +135,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
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@@ -142,7 +145,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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 <li class="tsd-kind-type-alias"><a href="Rotation.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rotation</a></li>
-<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
+<li class="tsd-kind-function"><a href="../functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>reserve<wbr/>Memory</a></li>
+<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/types/MultibodyJointHandle.html b/static/javascript2d/types/MultibodyJointHandle.html
index 7690f18..838972a 100644
--- a/static/javascript2d/types/MultibodyJointHandle.html
+++ b/static/javascript2d/types/MultibodyJointHandle.html
@@ -52,6 +52,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
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@@ -85,6 +86,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/MultibodyJointSet.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Multibody<wbr/>Joint<wbr/>Set</a></li>
 <li class="tsd-kind-class"><a href="../classes/NarrowPhase.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Narrow<wbr/>Phase</a></li>
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+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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 <li class="tsd-kind-class"><a href="../classes/PointProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Projection</a></li>
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@@ -119,6 +121,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/UnitMultibodyJoint.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Unit<wbr/>Multibody<wbr/>Joint</a></li>
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+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
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@@ -128,7 +131,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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diff --git a/static/javascript2d/types/RigidBodyHandle.html b/static/javascript2d/types/RigidBodyHandle.html
index cf0b003..6914329 100644
--- a/static/javascript2d/types/RigidBodyHandle.html
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+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
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+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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@@ -119,6 +121,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript2d/types/Rotation.html b/static/javascript2d/types/Rotation.html
index 3c1c1f6..d044350 100644
--- a/static/javascript2d/types/Rotation.html
+++ b/static/javascript2d/types/Rotation.html
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+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
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@@ -85,6 +86,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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@@ -119,6 +121,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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\ No newline at end of file
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\":163,\"name\":{\"223\":{},\"1186\":{}},\"comment\":{}}],[\"switchtosmallstepspgssolverwithoutwarmstart\",{\"_index\":164,\"name\":{\"224\":{},\"1187\":{}},\"comment\":{}}],[\"switchtostandardpgssolver\",{\"_index\":162,\"name\":{\"222\":{},\"1185\":{}},\"comment\":{}}],[\"takesnapshot\",{\"_index\":438,\"name\":{\"1175\":{}},\"comment\":{}}],[\"tempcontactforceevent\",{\"_index\":473,\"name\":{\"1238\":{},\"1523\":{}},\"comment\":{}}],[\"tempcontactmanifold\",{\"_index\":250,\"name\":{\"572\":{},\"1479\":{}},\"comment\":{}}],[\"tempmanifold\",{\"_index\":245,\"name\":{\"566\":{}},\"comment\":{}}],[\"time_of_impact\",{\"_index\":412,\"name\":{\"1130\":{},\"1139\":{}},\"comment\":{}}],[\"timeofimpact\",{\"_index\":403,\"name\":{\"1097\":{},\"1105\":{},\"1113\":{}},\"comment\":{}}],[\"timestep\",{\"_index\":443,\"name\":{\"1180\":{}},\"comment\":{}}],[\"toi\",{\"_index\":508,\"name\":{\"1305\":{}},\"comment\":{}}],[\"totalforce\",{\"_index\":476,\"name\":{\"1244\":{}},\"comment\":{}}],[\"totalforcemagnitude\",{\"_index\":477,\"name\":{\"1245\":{}},\"comment\":{}}],[\"translation\",{\"_index\":57,\"name\":{\"77\":{},\"144\":{},\"935\":{},\"1039\":{}},\"comment\":{}}],[\"translationdeltaapplied\",{\"_index\":506,\"name\":{\"1303\":{}},\"comment\":{}}],[\"translationdeltaremaining\",{\"_index\":507,\"name\":{\"1304\":{}},\"comment\":{}}],[\"translationsenabledx\",{\"_index\":120,\"name\":{\"150\":{}},\"comment\":{}}],[\"translationsenabledy\",{\"_index\":121,\"name\":{\"151\":{}},\"comment\":{}}],[\"translationsenabledz\",{\"_index\":124,\"name\":{\"156\":{}},\"comment\":{}}],[\"triangle\",{\"_index\":286,\"name\":{\"615\":{},\"724\":{},\"1011\":{},\"1490\":{}},\"comment\":{}}],[\"trimesh\",{\"_index\":287,\"name\":{\"616\":{},\"787\":{},\"1015\":{},\"1494\":{}},\"comment\":{}}],[\"trimeshflags\",{\"_index\":301,\"name\":{\"630\":{},\"1483\":{}},\"comment\":{}}],[\"type\",{\"_index\":188,\"name\":{\"254\":{},\"282\":{},\"301\":{},\"320\":{},\"339\":{},\"367\":{},\"395\":{},\"414\":{},\"433\":{},\"600\":{},\"640\":{},\"654\":{},\"668\":{},\"682\":{},\"697\":{},\"712\":{},\"727\":{},\"743\":{},\"760\":{},\"775\":{},\"790\":{},\"806\":{},\"821\":{},\"837\":{},\"855\":{},\"870\":{},\"886\":{},\"901\":{}},\"comment\":{}}],[\"unitimpulsejoint\",{\"_index\":197,\"name\":{\"263\":{},\"1456\":{}},\"comment\":{}}],[\"unitmultibodyjoint\",{\"_index\":229,\"name\":{\"488\":{},\"1468\":{}},\"comment\":{}}],[\"unknown\",{\"_index\":397,\"name\":{\"1088\":{}},\"comment\":{}}],[\"unmap\",{\"_index\":226,\"name\":{\"473\":{},\"538\":{},\"1078\":{}},\"comment\":{}}],[\"up\",{\"_index\":515,\"name\":{\"1321\":{}},\"comment\":{}}],[\"update\",{\"_index\":504,\"name\":{\"1289\":{}},\"comment\":{}}],[\"updatescenequeries\",{\"_index\":442,\"name\":{\"1179\":{}},\"comment\":{}}],[\"updatevehicle\",{\"_index\":561,\"name\":{\"1386\":{}},\"comment\":{}}],[\"userdata\",{\"_index\":41,\"name\":{\"61\":{},\"169\":{}},\"comment\":{}}],[\"userforce\",{\"_index\":110,\"name\":{\"131\":{}},\"comment\":{}}],[\"usertorque\",{\"_index\":111,\"name\":{\"132\":{}},\"comment\":{}}],[\"vector\",{\"_index\":2,\"name\":{\"2\":{},\"1437\":{}},\"comment\":{}}],[\"vector3\",{\"_index\":6,\"name\":{\"6\":{},\"1438\":{}},\"comment\":{}}],[\"vectorops\",{\"_index\":8,\"name\":{\"11\":{},\"1439\":{}},\"comment\":{}}],[\"vehiclecontrollers\",{\"_index\":437,\"name\":{\"1173\":{}},\"comment\":{}}],[\"velocityatpoint\",{\"_index\":69,\"name\":{\"90\":{}},\"comment\":{}}],[\"version\",{\"_index\":0,\"name\":{\"0\":{},\"1435\":{}},\"comment\":{}}],[\"vertex\",{\"_index\":394,\"name\":{\"1085\":{}},\"comment\":{}}],[\"vertices\",{\"_index\":314,\"name\":{\"761\":{},\"791\":{},\"807\":{},\"822\":{},\"979\":{},\"1267\":{},\"1272\":{}},\"comment\":{}}],[\"volume\",{\"_index\":378,\"name\":{\"990\":{}},\"comment\":{}}],[\"voxels\",{\"_index\":298,\"name\":{\"627\":{},\"772\":{},\"1014\":{},\"1493\":{}},\"comment\":{}}],[\"voxelsize\",{\"_index\":317,\"name\":{\"777\":{}},\"comment\":{}}],[\"w\",{\"_index\":15,\"name\":{\"22\":{},\"28\":{}},\"comment\":{}}],[\"wakeup\",{\"_index\":82,\"name\":{\"103\":{}},\"comment\":{}}],[\"wheelaxlecs\",{\"_index\":593,\"name\":{\"1418\":{}},\"comment\":{}}],[\"wheelbrake\",{\"_index\":585,\"name\":{\"1410\":{}},\"comment\":{}}],[\"wheelchassisconnectionpointcs\",{\"_index\":569,\"name\":{\"1394\":{}},\"comment\":{}}],[\"wheelcontactnormal\",{\"_index\":603,\"name\":{\"1428\":{}},\"comment\":{}}],[\"wheelcontactpoint\",{\"_index\":604,\"name\":{\"1429\":{}},\"comment\":{}}],[\"wheeldirectioncs\",{\"_index\":591,\"name\":{\"1416\":{}},\"comment\":{}}],[\"wheelengineforce\",{\"_index\":589,\"name\":{\"1414\":{}},\"comment\":{}}],[\"wheelforwardimpulse\",{\"_index\":600,\"name\":{\"1425\":{}},\"comment\":{}}],[\"wheelfrictionslip\",{\"_index\":595,\"name\":{\"1420\":{}},\"comment\":{}}],[\"wheelgroundobject\",{\"_index\":608,\"name\":{\"1433\":{}},\"comment\":{}}],[\"wheelhardpoint\",{\"_index\":606,\"name\":{\"1431\":{}},\"comment\":{}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\ No newline at end of file
diff --git a/static/javascript3d/assets/widgets.png b/static/javascript3d/assets/widgets.png
deleted file mode 100644
index c738053..0000000
Binary files a/static/javascript3d/assets/widgets.png and /dev/null differ
diff --git a/static/javascript3d/assets/widgets@2x.png b/static/javascript3d/assets/widgets@2x.png
deleted file mode 100644
index 4bbbd57..0000000
Binary files a/static/javascript3d/assets/widgets@2x.png and /dev/null differ
diff --git a/static/javascript3d/classes/Ball.html b/static/javascript3d/classes/Ball.html
index e698db4..c54693d 100644
--- a/static/javascript3d/classes/Ball.html
+++ b/static/javascript3d/classes/Ball.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Ball</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:157</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:158</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -72,7 +72,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="Ball.html" class="tsd-signature-type" data-tsd-kind="Class">Ball</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:167</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:168</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
@@ -81,13 +81,13 @@ <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Per
 <div class="tsd-comment tsd-typography"><p>The balls radius.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:162</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:163</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Ball" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Ball</a><span class="tsd-signature-symbol"> = ShapeType.Ball</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:158</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:159</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -189,7 +189,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -317,7 +317,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:168</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:169</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Capsule.html b/static/javascript3d/classes/Capsule.html
index cb0d04a..ef42c6b 100644
--- a/static/javascript3d/classes/Capsule.html
+++ b/static/javascript3d/classes/Capsule.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Capsule</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:229</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:230</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -77,7 +77,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="Capsule.html" class="tsd-signature-type" data-tsd-kind="Class">Capsule</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:244</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:245</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfHeight" class="tsd-anchor"></a>
@@ -86,20 +86,20 @@ <h3 class="tsd-anchor-link"><span>half<wbr/>Height</span><a href="#halfHeight" a
 <div class="tsd-comment tsd-typography"><p>The capsule&#39;s half height, along the <code>y</code> axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:238</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:239</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">radius<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The radius of the capsule&#39;s basis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:234</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:235</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Capsule" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Capsule</a><span class="tsd-signature-symbol"> = ShapeType.Capsule</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:230</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:231</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -201,7 +201,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -329,7 +329,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:245</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:246</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Collider.html b/static/javascript3d/classes/Collider.html
index 3df291e..9634592 100644
--- a/static/javascript3d/classes/Collider.html
+++ b/static/javascript3d/classes/Collider.html
@@ -55,7 +55,9 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="Collider.html#castRay" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Ray</span></a>
 <a href="Collider.html#castRayAndGetNormal" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span></a>
 <a href="Collider.html#castShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Shape</span></a>
+<a href="Collider.html#clearShapeCache" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>clear<wbr/>Shape<wbr/>Cache</span></a>
 <a href="Collider.html#collisionGroups" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>collision<wbr/>Groups</span></a>
+<a href="Collider.html#combineVoxelStates" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>combine<wbr/>Voxel<wbr/>States</span></a>
 <a href="Collider.html#contactCollider" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contact<wbr/>Collider</span></a>
 <a href="Collider.html#contactForceEventThreshold" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span></a>
 <a href="Collider.html#contactShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contact<wbr/>Shape</span></a>
@@ -80,6 +82,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="Collider.html#mass" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>mass</span></a>
 <a href="Collider.html#parent" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>parent</span></a>
 <a href="Collider.html#projectPoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>project<wbr/>Point</span></a>
+<a href="Collider.html#propagateVoxelChange" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>propagate<wbr/>Voxel<wbr/>Change</span></a>
 <a href="Collider.html#radius" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>radius</span></a>
 <a href="Collider.html#restitution" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>restitution</span></a>
 <a href="Collider.html#restitutionCombineRule" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>restitution<wbr/>Combine<wbr/>Rule</span></a>
@@ -110,6 +113,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="Collider.html#setSolverGroups" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Solver<wbr/>Groups</span></a>
 <a href="Collider.html#setTranslation" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Translation</span></a>
 <a href="Collider.html#setTranslationWrtParent" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Translation<wbr/>Wrt<wbr/>Parent</span></a>
+<a href="Collider.html#setVoxel" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Voxel</span></a>
 <a href="Collider.html#shapeType" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>shape<wbr/>Type</span></a>
 <a href="Collider.html#solverGroups" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>solver<wbr/>Groups</span></a>
 <a href="Collider.html#translation" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>translation</span></a>
@@ -187,7 +191,7 @@ <h3 class="tsd-anchor-link"><span>active<wbr/>Collision<wbr/>Types</span><a href
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/ActiveCollisionTypes.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveCollisionTypes</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:215</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:224</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="activeEvents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Events</span><a href="#activeEvents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -197,7 +201,7 @@ <h3 class="tsd-anchor-link"><span>active<wbr/>Events</span><a href="#activeEvent
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/ActiveEvents.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveEvents</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:203</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:212</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="activeHooks" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Hooks</span><a href="#activeHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -207,7 +211,7 @@ <h3 class="tsd-anchor-link"><span>active<wbr/>Hooks</span><a href="#activeHooks"
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/ActiveHooks.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveHooks</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:191</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:200</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Collider</span><a href="#castCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -230,7 +234,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5></li>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:437</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:494</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRay" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Ray</span><a href="#castRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -261,7 +265,7 @@ <h5>solid: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:469</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:526</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRayAndGetNormal" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span><a href="#castRayAndGetNormal" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -290,7 +294,7 @@ <h5>solid: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayIntersection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:481</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:538</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Shape</span><a href="#castShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -317,7 +321,21 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5></li>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:436</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:493</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="clearShapeCache" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>clear<wbr/>Shape<wbr/>Cache</span><a href="#clearShapeCache" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="clearShapeCache.clearShapeCache-1">clear<wbr/>Shape<wbr/>Cache<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#clearShapeCache.clearShapeCache-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Set the internal cached JS shape to null.</p>
+<p>This can be useful if you want to free some memory (assuming you are not
+holding any other references to the shape object), or in order to force
+the recalculation of the JS shape (the next time the <code>shape</code> getter is
+accessed) from the WASM source of truth.</p>
+</div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:86</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="collisionGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>collision<wbr/>Groups</span><a href="#collisionGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -327,7 +345,38 @@ <h3 class="tsd-anchor-link"><span>collision<wbr/>Groups</span><a href="#collisio
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:406</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:463</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="combineVoxelStates" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>combine<wbr/>Voxel<wbr/>States</span><a href="#combineVoxelStates" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="combineVoxelStates.combineVoxelStates-1">combine<wbr/>Voxel<wbr/>States<span class="tsd-signature-symbol">(</span>voxels2<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a>, shift_x<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shift_y<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shift_z<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#combineVoxelStates.combineVoxelStates-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>If this and <code>voxels2</code> are voxel colliders, this will ensure that a
+moving object transitioning across the boundaries of these colliders
+won’t suffer from the &quot;internal edges&quot; artifact.</p>
+<p>If the voxels in <code>voxels2</code> live in a different coordinate space from <code>this</code>,
+then the <code>shift_*</code> argument indicate the distance, in voxel units, between
+the origin of <code>this</code> to the origin of <code>voxels2</code>.</p>
+<p>This method is intended to be called once between all pairs of voxels
+colliders with intersecting domains or shared boundaries.</p>
+<p>If either voxels collider is then modified with <code>setVoxel</code>, the
+<code>propagateVoxelChange</code> method must be called to maintain the coupling
+between the voxels shapes after the modification.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>voxels2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li>
+<li>
+<h5>shift_x: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>shift_y: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>shift_z: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:398</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Collider</span><a href="#contactCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -350,7 +399,7 @@ <h5>prediction: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeContact.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeContact</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:456</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:513</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactForceEventThreshold" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span><a href="#contactForceEventThreshold" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -360,7 +409,7 @@ <h3 class="tsd-anchor-link"><span>contact<wbr/>Force<wbr/>Event<wbr/>Threshold</
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:225</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:234</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Shape</span><a href="#contactShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -391,7 +440,7 @@ <h5>prediction: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeContact.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeContact</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:448</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:505</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactSkin" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Skin</span><a href="#contactSkin" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -402,7 +451,7 @@ <h3 class="tsd-anchor-link"><span>contact<wbr/>Skin</span><a href="#contactSkin"
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:179</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:188</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="containsPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contains<wbr/>Point</span><a href="#containsPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -419,7 +468,7 @@ <h5>point: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-t
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:416</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:473</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="density" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>density</span><a href="#density" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -429,7 +478,7 @@ <h3 class="tsd-anchor-link"><span>density</span><a href="#density" aria-label="P
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:394</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:451</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="finalizeDeserialization" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>finalize<wbr/>Deserialization</span><a href="#finalizeDeserialization" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -452,7 +501,7 @@ <h3 class="tsd-anchor-link"><span>friction</span><a href="#friction" aria-label=
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:386</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:443</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="frictionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>friction<wbr/>Combine<wbr/>Rule</span><a href="#frictionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -463,7 +512,7 @@ <h3 class="tsd-anchor-link"><span>friction<wbr/>Combine<wbr/>Rule</span><a href=
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-type" data-tsd-kind="Enumeration">CoefficientCombineRule</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:135</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:144</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="halfExtents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>half<wbr/>Extents</span><a href="#halfExtents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -475,7 +524,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:302</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:311</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="halfHeight" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>half<wbr/>Height</span><a href="#halfHeight" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -487,7 +536,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:335</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:344</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="heightfieldHeights" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>heightfield<wbr/>Heights</span><a href="#heightfieldHeights" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -501,7 +550,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">Float32Array</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:360</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:417</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="heightfieldNCols" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>heightfieldNCols</span><a href="#heightfieldNCols" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -514,7 +563,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:378</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:435</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="heightfieldNRows" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>heightfieldNRows</span><a href="#heightfieldNRows" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -527,7 +576,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:372</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:429</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="heightfieldScale" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>heightfield<wbr/>Scale</span><a href="#heightfieldScale" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -540,7 +589,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:366</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:423</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="indices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>indices</span><a href="#indices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -553,7 +602,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">Uint32Array</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:353</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:410</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectsRay" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersects<wbr/>Ray</span><a href="#intersectsRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -575,7 +624,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:435</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:492</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectsShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersects<wbr/>Shape</span><a href="#intersectsShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -592,7 +641,7 @@ <h5>shapePos2: <a href="../interfaces/Vector.html" class="tsd-signature-type" da
 <h5>shapeRot2: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:438</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:495</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="isEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>is<wbr/>Enabled</span><a href="#isEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -602,7 +651,7 @@ <h3 class="tsd-anchor-link"><span>is<wbr/>Enabled</span><a href="#isEnabled" ari
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:114</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:123</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="isSensor" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>is<wbr/>Sensor</span><a href="#isSensor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -612,7 +661,7 @@ <h3 class="tsd-anchor-link"><span>is<wbr/>Sensor</span><a href="#isSensor" aria-
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:94</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:103</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="isValid" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>is<wbr/>Valid</span><a href="#isValid" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -623,7 +672,7 @@ <h3 class="tsd-anchor-link"><span>is<wbr/>Valid</span><a href="#isValid" aria-la
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:82</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:91</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="mass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass</span><a href="#mass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -633,7 +682,7 @@ <h3 class="tsd-anchor-link"><span>mass</span><a href="#mass" aria-label="Permali
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:398</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:455</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="parent" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>parent</span><a href="#parent" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -643,7 +692,7 @@ <h3 class="tsd-anchor-link"><span>parent</span><a href="#parent" aria-label="Per
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:382</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:439</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -668,7 +717,46 @@ <h5>solid: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:427</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:484</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="propagateVoxelChange" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>propagate<wbr/>Voxel<wbr/>Change</span><a href="#propagateVoxelChange" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="propagateVoxelChange.propagateVoxelChange-1">propagate<wbr/>Voxel<wbr/>Change<span class="tsd-signature-symbol">(</span>voxels2<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a>, ix<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, iy<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, iz<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shift_x<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shift_y<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, shift_z<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#propagateVoxelChange.propagateVoxelChange-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>If this and <code>voxels2</code> are voxel colliders, and a voxel from <code>this</code> was
+modified with <code>setVoxel</code>, this will ensure that a
+moving object transitioning across the boundaries of these colliders
+won’t suffer from the &quot;internal edges&quot; artifact.</p>
+<p>The indices <code>ix, iy, iz</code> indicate the integer coordinates of the voxel in
+the local coordinate frame of <code>this</code>.</p>
+<p>If the voxels in <code>voxels2</code> live in a different coordinate space from <code>this</code>,
+then the <code>shift_*</code> argument indicate the distance, in voxel units, between
+the origin of <code>this</code> to the origin of <code>voxels2</code>.</p>
+<p>This method is intended to be called between <code>this</code> and all the other
+voxels colliders with a domain intersecting <code>this</code> or sharing a domain
+boundary. This is an incremental maintenance of the effect of
+<code>combineVoxelStates</code>.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>voxels2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li>
+<li>
+<h5>ix: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>iy: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>iz: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>shift_x: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>shift_y: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>shift_z: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:381</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -680,7 +768,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:313</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:322</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restitution" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restitution</span><a href="#restitution" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -690,7 +778,7 @@ <h3 class="tsd-anchor-link"><span>restitution</span><a href="#restitution" aria-
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:390</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:447</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restitutionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restitution<wbr/>Combine<wbr/>Rule</span><a href="#restitutionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -701,7 +789,7 @@ <h3 class="tsd-anchor-link"><span>restitution<wbr/>Combine<wbr/>Rule</span><a hr
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-type" data-tsd-kind="Enumeration">CoefficientCombineRule</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:147</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:156</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="rotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotation</span><a href="#rotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -711,7 +799,7 @@ <h3 class="tsd-anchor-link"><span>rotation</span><a href="#rotation" aria-label=
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:90</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:99</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundRadius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>round<wbr/>Radius</span><a href="#roundRadius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -723,7 +811,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:324</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:333</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveCollisionTypes" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Collision<wbr/>Types</span><a href="#setActiveCollisionTypes" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -740,7 +828,7 @@ <h5>activeCollisionTypes: <a href="../enums/ActiveCollisionTypes.html" class="ts
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:231</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:240</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveEvents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Events</span><a href="#setActiveEvents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -758,7 +846,7 @@ <h5>activeEvents: <a href="../enums/ActiveEvents.html" class="tsd-signature-type
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:211</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:220</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveHooks" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Hooks</span><a href="#setActiveHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -776,7 +864,7 @@ <h5>activeHooks: <a href="../enums/ActiveHooks.html" class="tsd-signature-type"
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:199</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:208</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setCollisionGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Collision<wbr/>Groups</span><a href="#setCollisionGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -795,7 +883,7 @@ <h5>groups: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:163</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:172</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setContactForceEventThreshold" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span><a href="#setContactForceEventThreshold" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -812,7 +900,7 @@ <h5>threshold: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:221</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:230</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setContactSkin" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Contact<wbr/>Skin</span><a href="#setContactSkin" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -830,7 +918,7 @@ <h5>thickness: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:187</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:196</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setDensity" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Density</span><a href="#setDensity" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -850,7 +938,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>density: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:242</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:251</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Enabled</span><a href="#setEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -867,7 +955,7 @@ <h5>enabled: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:110</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:119</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setFriction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Friction</span><a href="#setFriction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -886,7 +974,7 @@ <h5>friction: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:130</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:139</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setFrictionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Friction<wbr/>Combine<wbr/>Rule</span><a href="#setFrictionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -904,7 +992,7 @@ <h5>rule: <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-ty
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:142</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:151</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setHalfExtents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Half<wbr/>Extents</span><a href="#setHalfExtents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -921,7 +1009,7 @@ <h5>newHalfExtents: <a href="../interfaces/Vector.html" class="tsd-signature-typ
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:308</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:317</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setHalfHeight" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Half<wbr/>Height</span><a href="#setHalfHeight" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -938,7 +1026,7 @@ <h5>newHalfheight: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:341</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:350</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Mass</span><a href="#setMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -958,7 +1046,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>mass: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:253</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:262</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setMassProperties" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Mass<wbr/>Properties</span><a href="#setMassProperties" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -982,7 +1070,7 @@ <h5>principalAngularInertia: <a href="../interfaces/Vector.html" class="tsd-sign
 <h5>angularInertiaLocalFrame: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:261</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:270</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRadius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Radius</span><a href="#setRadius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -999,7 +1087,7 @@ <h5>newRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:319</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:328</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRestitution" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Restitution</span><a href="#setRestitution" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1018,7 +1106,7 @@ <h5>restitution: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:122</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:131</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRestitutionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Restitution<wbr/>Combine<wbr/>Rule</span><a href="#setRestitutionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1036,7 +1124,7 @@ <h5>rule: <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-ty
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:154</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:163</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Rotation</span><a href="#setRotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1052,7 +1140,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>rot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:283</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:292</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRotationWrtParent" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Rotation<wbr/>Wrt<wbr/>Parent</span><a href="#setRotationWrtParent" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1069,7 +1157,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>rot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:292</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:301</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRoundRadius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Round<wbr/>Radius</span><a href="#setRoundRadius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1086,13 +1174,13 @@ <h5>newBorderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:330</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:339</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSensor" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Sensor</span><a href="#setSensor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
 <li class="tsd-signature tsd-anchor-link" id="setSensor.setSensor-1">set<wbr/>Sensor<span class="tsd-signature-symbol">(</span>isSensor<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setSensor.setSensor-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
 <li class="tsd-description">
-<div class="tsd-comment tsd-typography"><p>Sets whether or not this collider is a sensor.</p>
+<div class="tsd-comment tsd-typography"><p>Sets whether this collider is a sensor.</p>
 </div>
 <div class="tsd-parameters">
 <h4 class="tsd-parameters-title">Parameters</h4>
@@ -1103,7 +1191,7 @@ <h5>isSensor: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:99</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:108</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Shape</span><a href="#setShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1120,7 +1208,7 @@ <h5>shape: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class"
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:104</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:113</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSolverGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Solver<wbr/>Groups</span><a href="#setSolverGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1140,7 +1228,7 @@ <h5>groups: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:173</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:182</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setTranslation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Translation</span><a href="#setTranslation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1157,7 +1245,7 @@ <h5>tra: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:267</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:276</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setTranslationWrtParent" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Translation<wbr/>Wrt<wbr/>Parent</span><a href="#setTranslationWrtParent" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1175,7 +1263,34 @@ <h5>tra: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:275</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:284</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setVoxel" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Voxel</span><a href="#setVoxel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setVoxel.setVoxel-1">set<wbr/>Voxel<span class="tsd-signature-symbol">(</span>ix<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, iy<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, iz<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, filled<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setVoxel.setVoxel-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>If this collider has a Voxels shape, this will mark the voxel at the
+given grid coordinates as filled or empty (depending on the <code>filled</code>
+argument).</p>
+<p>Each input value is assumed to be an integer.</p>
+<p>The operation is O(1), unless the provided coordinates are out of the
+bounds of the currently allocated internal grid in which case the grid
+will be grown automatically.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ix: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>iy: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>iz: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>filled: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:362</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="shapeType" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>shape<wbr/>Type</span><a href="#shapeType" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1187,7 +1302,7 @@ <h3>Deprecated</h3><p>this field will be removed in the future, please access th
 </div>
 <h4 class="tsd-returns-title">Returns <a href="../enums/ShapeType.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ShapeType</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:297</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:306</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="solverGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>solver<wbr/>Groups</span><a href="#solverGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1197,7 +1312,7 @@ <h3 class="tsd-anchor-link"><span>solver<wbr/>Groups</span><a href="#solverGroup
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:410</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:467</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="translation" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:86</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:95</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">Float32Array</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:347</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:404</li></ul></aside></li></ul></section>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:402</li></ul></aside></li></ul></section></section></div>
+<li>Defined in geometry/collider.d.ts:459</li></ul></aside></li></ul></section></section></div>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#clearShapeCache" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>clear<wbr/>Shape<wbr/>Cache</a></li>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#combineVoxelStates" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>combine<wbr/>Voxel<wbr/>States</a></li>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#propagateVoxelChange" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>propagate<wbr/>Voxel<wbr/>Change</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#radius" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>radius</a></li>
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 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#restitutionCombineRule" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>restitution<wbr/>Combine<wbr/>Rule</a></li>
@@ -1325,6 +1443,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#setTranslation" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Translation</a></li>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#setVoxel" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Voxel</a></li>
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 <li class="tsd-kind-method tsd-parent-kind-class"><a href="Collider.html#solverGroups" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>solver<wbr/>Groups</a></li>
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index 81e0e15..9738ef1 100644
--- a/static/javascript3d/classes/ColliderDesc.html
+++ b/static/javascript3d/classes/ColliderDesc.html
@@ -20,7 +20,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">ColliderDesc</span></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:488</li></ul></aside>
+<li>Defined in geometry/collider.d.ts:545</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
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@@ -93,6 +93,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="ColliderDesc.html#segment" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>segment</span></a>
 <a href="ColliderDesc.html#triangle" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>triangle</span></a>
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+<a href="ColliderDesc.html#voxels" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>voxels</span></a>
 </div></section></div></details></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Constructors</h2>
@@ -112,119 +113,119 @@ <h5>shape: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class"
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:516</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/collider.d.ts:573</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="activeCollisionTypes" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Collision<wbr/>Types</span><a href="#activeCollisionTypes" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">active<wbr/>Collision<wbr/>Types<span class="tsd-signature-symbol">:</span> <a href="../enums/ActiveCollisionTypes.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveCollisionTypes</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:508</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:565</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="activeEvents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Events</span><a href="#activeEvents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">active<wbr/>Events<span class="tsd-signature-symbol">:</span> <a href="../enums/ActiveEvents.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveEvents</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:506</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:563</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="activeHooks" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>active<wbr/>Hooks</span><a href="#activeHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">active<wbr/>Hooks<span class="tsd-signature-symbol">:</span> <a href="../enums/ActiveHooks.html" class="tsd-signature-type" data-tsd-kind="Enumeration">ActiveHooks</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:507</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:564</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="angularInertiaLocalFrame" class="tsd-anchor"></a>
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 <div class="tsd-signature">angular<wbr/>Inertia<wbr/>Local<wbr/>Frame<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:495</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:552</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="centerOfMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>center<wbr/>Of<wbr/>Mass</span><a href="#centerOfMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">center<wbr/>Of<wbr/>Mass<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:493</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:550</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="collisionGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>collision<wbr/>Groups</span><a href="#collisionGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">collision<wbr/>Groups<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:502</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:559</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="contactForceEventThreshold" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span><a href="#contactForceEventThreshold" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">contact<wbr/>Force<wbr/>Event<wbr/>Threshold<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:509</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:566</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="contactSkin" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Skin</span><a href="#contactSkin" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">contact<wbr/>Skin<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:510</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:567</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="density" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>density</span><a href="#density" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">density<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:496</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:553</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="enabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>enabled</span><a href="#enabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">enabled<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:489</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:546</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="friction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>friction</span><a href="#friction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">friction<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:497</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:554</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="frictionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>friction<wbr/>Combine<wbr/>Rule</span><a href="#frictionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">friction<wbr/>Combine<wbr/>Rule<span class="tsd-signature-symbol">:</span> <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-type" data-tsd-kind="Enumeration">CoefficientCombineRule</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:504</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:561</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="isSensor" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>is<wbr/>Sensor</span><a href="#isSensor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">is<wbr/>Sensor<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:501</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:558</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="mass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass</span><a href="#mass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">mass<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:492</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:549</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="massPropsMode" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass<wbr/>Props<wbr/>Mode</span><a href="#massPropsMode" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">mass<wbr/>Props<wbr/>Mode<span class="tsd-signature-symbol">:</span> <a href="../enums/MassPropsMode.html" class="tsd-signature-type" data-tsd-kind="Enumeration">MassPropsMode</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:491</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:548</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="principalAngularInertia" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>principal<wbr/>Angular<wbr/>Inertia</span><a href="#principalAngularInertia" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">principal<wbr/>Angular<wbr/>Inertia<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:494</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:551</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="restitution" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restitution</span><a href="#restitution" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">restitution<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:498</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:555</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="restitutionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restitution<wbr/>Combine<wbr/>Rule</span><a href="#restitutionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">restitution<wbr/>Combine<wbr/>Rule<span class="tsd-signature-symbol">:</span> <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-type" data-tsd-kind="Enumeration">CoefficientCombineRule</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:505</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:562</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotation</span><a href="#rotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotation<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:499</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:556</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="shape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>shape</span><a href="#shape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">shape<span class="tsd-signature-symbol">:</span> <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:490</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:547</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="solverGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>solver<wbr/>Groups</span><a href="#solverGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">solver<wbr/>Groups<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:503</li></ul></aside></section>
+<li>Defined in geometry/collider.d.ts:560</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translation</span><a href="#translation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translation<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:500</li></ul></aside></section></section>
+<li>Defined in geometry/collider.d.ts:557</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveCollisionTypes" class="tsd-anchor"></a>
@@ -243,7 +244,7 @@ <h5>activeCollisionTypes: <a href="../enums/ActiveCollisionTypes.html" class="ts
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:795</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:865</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveEvents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Events</span><a href="#setActiveEvents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -261,7 +262,7 @@ <h5>activeEvents: <a href="../enums/ActiveEvents.html" class="tsd-signature-type
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:789</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:859</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setActiveHooks" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Active<wbr/>Hooks</span><a href="#setActiveHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -279,7 +280,7 @@ <h5>activeHooks: <a href="../enums/ActiveHooks.html" class="tsd-signature-type"
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:781</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:851</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setCollisionGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Collision<wbr/>Groups</span><a href="#setCollisionGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -298,7 +299,7 @@ <h5>groups: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:763</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:833</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setContactForceEventThreshold" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Contact<wbr/>Force<wbr/>Event<wbr/>Threshold</span><a href="#setContactForceEventThreshold" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -315,7 +316,7 @@ <h5>threshold: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:801</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:871</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setContactSkin" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Contact<wbr/>Skin</span><a href="#setContactSkin" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -336,7 +337,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>thickness: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:693</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:763</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setDensity" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Density</span><a href="#setDensity" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -355,7 +356,7 @@ <h5>density: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:702</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:772</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Enabled</span><a href="#setEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -372,7 +373,7 @@ <h5>enabled: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:681</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:751</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setFriction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Friction</span><a href="#setFriction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -391,7 +392,7 @@ <h5>friction: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:740</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:810</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setFrictionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Friction<wbr/>Combine<wbr/>Rule</span><a href="#setFrictionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -409,7 +410,7 @@ <h5>rule: <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-ty
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:747</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:817</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Mass</span><a href="#setMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -427,7 +428,7 @@ <h5>mass: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:710</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:780</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setMassProperties" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Mass<wbr/>Properties</span><a href="#setMassProperties" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -460,7 +461,7 @@ <h5>angularInertiaLocalFrame: <a href="../interfaces/Rotation.html" class="tsd-s
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:724</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:794</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRestitution" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Restitution</span><a href="#setRestitution" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -479,7 +480,7 @@ <h5>restitution: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:732</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:802</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRestitutionCombineRule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Restitution<wbr/>Combine<wbr/>Rule</span><a href="#setRestitutionCombineRule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -497,7 +498,7 @@ <h5>rule: <a href="../enums/CoefficientCombineRule.html" class="tsd-signature-ty
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:754</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:824</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Rotation</span><a href="#setRotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -514,7 +515,7 @@ <h5>rot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-t
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:667</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:737</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSensor" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Sensor</span><a href="#setSensor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -533,7 +534,7 @@ <h5>sensor: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:676</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:746</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSolverGroups" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Solver<wbr/>Groups</span><a href="#setSolverGroups" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -553,7 +554,7 @@ <h5>groups: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:773</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:843</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setTranslation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Translation</span><a href="#setTranslation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -572,7 +573,7 @@ <h5>y: <span class="tsd-signature-type">number</span></h5></li>
 <h5>z: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:661</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:731</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="ball" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>ball</span><a href="#ball" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -589,7 +590,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:522</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:579</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="capsule" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>capsule</span><a href="#capsule" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -610,7 +611,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:529</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:586</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="cone" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>cone</span><a href="#cone" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -631,7 +632,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:618</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:688</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="convexHull" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>convex<wbr/>Hull</span><a href="#convexHull" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -649,7 +650,7 @@ <h5>points: <span class="tsd-signature-type">Float32Array</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:633</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:703</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="convexMesh" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>convex<wbr/>Mesh</span><a href="#convexMesh" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -669,7 +670,7 @@ <h5>vertices: <span class="tsd-signature-type">Float32Array</span></h5>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> indices: <span class="tsd-signature-type">Uint32Array</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:640</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:710</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="cuboid" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>cuboid</span><a href="#cuboid" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -694,7 +695,7 @@ <h5>hz: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:577</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:647</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="cylinder" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>cylinder</span><a href="#cylinder" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -715,7 +716,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:603</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:673</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="heightfield" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>heightfield</span><a href="#heightfield" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -747,7 +748,7 @@ <h5>scale: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-t
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> flags: <a href="../enums/HeightFieldFlags.html#FIX_INTERNAL_EDGES" class="tsd-signature-type" data-tsd-kind="Enumeration Member">FIX_INTERNAL_EDGES</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:596</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:666</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="polyline" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>polyline</span><a href="#polyline" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -769,7 +770,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> indices: <span class="
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:562</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:619</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundCone" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Cone</span><a href="#roundCone" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -794,7 +795,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:626</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:696</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundConvexHull" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Convex<wbr/>Hull</span><a href="#roundConvexHull" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -817,7 +818,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:649</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:719</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundConvexMesh" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Convex<wbr/>Mesh</span><a href="#roundConvexMesh" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -841,7 +842,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:657</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:727</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundCuboid" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Cuboid</span><a href="#roundCuboid" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -870,7 +871,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:586</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:656</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundCylinder" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Cylinder</span><a href="#roundCylinder" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -895,7 +896,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:611</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:681</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="roundTriangle" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>round<wbr/>Triangle</span><a href="#roundTriangle" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -925,7 +926,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:554</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:611</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="segment" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:536</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:593</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="triangle" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>triangle</span><a href="#triangle" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -971,7 +972,7 @@ <h5>c: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-k
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:544</li></ul></aside></li></ul></section>
+<li>Defined in geometry/collider.d.ts:601</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="trimesh" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>trimesh</span><a href="#trimesh" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -994,7 +995,26 @@ <h5>indices: <span class="tsd-signature-type">Uint32Array</span></h5>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> flags: <a href="../enums/TriMeshFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">TriMeshFlags</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/collider.d.ts:569</li></ul></aside></li></ul></section></section></div>
+<li>Defined in geometry/collider.d.ts:639</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="voxels" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>voxels</span><a href="#voxels" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="voxels.voxels-1">voxels<span class="tsd-signature-symbol">(</span>voxels<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span>, voxelSize<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a><a href="#voxels.voxels-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Creates a new collider descriptor with a shape made of voxels.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>voxels: <span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span></h5></li>
+<li>
+<h5>voxelSize: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The size of each voxel.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="ColliderDesc.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderDesc</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/collider.d.ts:632</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="ColliderDesc.html#trimesh" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>trimesh</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="ColliderDesc.html#voxels" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>voxels</a></li></ul></li></ul></nav></div></div>
 <div class="container tsd-generator">
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\ No newline at end of file
diff --git a/static/javascript3d/classes/Cone.html b/static/javascript3d/classes/Cone.html
index 888426f..1aea9c7 100644
--- a/static/javascript3d/classes/Cone.html
+++ b/static/javascript3d/classes/Cone.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Cone</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:521</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:550</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -77,7 +77,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="Cone.html" class="tsd-signature-type" data-tsd-kind="Class">Cone</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:536</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:565</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfHeight" class="tsd-anchor"></a>
@@ -86,20 +86,20 @@ <h3 class="tsd-anchor-link"><span>half<wbr/>Height</span><a href="#halfHeight" a
 <div class="tsd-comment tsd-typography"><p>The cone&#39;s half height, along the <code>y</code> axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:530</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:559</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">radius<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The radius of the cone&#39;s basis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:526</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:555</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Cone" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Cone</a><span class="tsd-signature-symbol"> = ShapeType.Cone</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:522</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:551</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -201,7 +201,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -329,7 +329,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:537</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:566</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/ConvexPolyhedron.html b/static/javascript3d/classes/ConvexPolyhedron.html
index c7f05fa..1f33fb6 100644
--- a/static/javascript3d/classes/ConvexPolyhedron.html
+++ b/static/javascript3d/classes/ConvexPolyhedron.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">ConvexPolyhedron</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:381</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:410</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -80,7 +80,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> indices: <span class="
 <h4 class="tsd-returns-title">Returns <a href="ConvexPolyhedron.html" class="tsd-signature-type" data-tsd-kind="Class">ConvexPolyhedron</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:400</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:429</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="indices" class="tsd-anchor"></a>
@@ -89,20 +89,20 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagOptional">Optional</code
 <div class="tsd-comment tsd-typography"><p>The indices of the convex polygon.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:390</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:419</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#ConvexPolyhedron" class="tsd-signature-type" data-tsd-kind="Enumeration Member">ConvexPolyhedron</a><span class="tsd-signature-symbol"> = ShapeType.ConvexPolyhedron</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:382</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:411</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The vertices of the convex polygon.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:386</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:415</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -204,7 +204,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -332,7 +332,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:401</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:430</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Cuboid.html b/static/javascript3d/classes/Cuboid.html
index 3f81bdd..8da6597 100644
--- a/static/javascript3d/classes/Cuboid.html
+++ b/static/javascript3d/classes/Cuboid.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Cuboid</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:187</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:188</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -80,7 +80,7 @@ <h5>hz: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="Cuboid.html" class="tsd-signature-type" data-tsd-kind="Class">Cuboid</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:199</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:200</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfExtents" class="tsd-anchor"></a>
@@ -89,13 +89,13 @@ <h3 class="tsd-anchor-link"><span>half<wbr/>Extents</span><a href="#halfExtents"
 <div class="tsd-comment tsd-typography"><p>The half extent of the cuboid along each coordinate axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:192</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:193</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Cuboid" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Cuboid</a><span class="tsd-signature-symbol"> = ShapeType.Cuboid</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:188</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:189</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -197,7 +197,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -325,7 +325,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:200</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:201</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Cylinder.html b/static/javascript3d/classes/Cylinder.html
index 789da11..21a07ff 100644
--- a/static/javascript3d/classes/Cylinder.html
+++ b/static/javascript3d/classes/Cylinder.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Cylinder</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:474</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:503</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -77,7 +77,7 @@ <h5>radius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="Cylinder.html" class="tsd-signature-type" data-tsd-kind="Class">Cylinder</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:489</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:518</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfHeight" class="tsd-anchor"></a>
@@ -86,20 +86,20 @@ <h3 class="tsd-anchor-link"><span>half<wbr/>Height</span><a href="#halfHeight" a
 <div class="tsd-comment tsd-typography"><p>The cylinder&#39;s half height, along the <code>y</code> axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:483</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:512</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">radius<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The radius of the cylinder&#39;s basis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:479</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:508</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Cylinder" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Cylinder</a><span class="tsd-signature-symbol"> = ShapeType.Cylinder</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:475</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:504</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -201,7 +201,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -329,7 +329,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:490</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:519</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/DebugRenderBuffers.html b/static/javascript3d/classes/DebugRenderBuffers.html
index 08cc94f..54ddff0 100644
--- a/static/javascript3d/classes/DebugRenderBuffers.html
+++ b/static/javascript3d/classes/DebugRenderBuffers.html
@@ -23,7 +23,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">DebugRenderBuffers</span></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:7</li></ul></aside>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:8</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -54,7 +54,7 @@ <h5>vertices: <span class="tsd-signature-type">Float32Array</span></h5></li>
 <h5>colors: <span class="tsd-signature-type">Float32Array</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="DebugRenderBuffers.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderBuffers</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:21</li></ul></aside></li></ul></section></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:22</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="colors" class="tsd-anchor"></a>
@@ -64,7 +64,7 @@ <h3 class="tsd-anchor-link"><span>colors</span><a href="#colors" aria-label="Per
 has four consecutive components (in RGBA format).</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:20</li></ul></aside></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:21</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
@@ -75,7 +75,7 @@ <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label=
 describes the two segments <code>[[1, 2], [3, 4]]</code> and <code>[[5, 6], [7, 8]]</code>.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:15</li></ul></aside></section></section></div>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:16</li></ul></aside></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
diff --git a/static/javascript3d/classes/DebugRenderPipeline.html b/static/javascript3d/classes/DebugRenderPipeline.html
index 2777bba..cc41bdb 100644
--- a/static/javascript3d/classes/DebugRenderPipeline.html
+++ b/static/javascript3d/classes/DebugRenderPipeline.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">DebugRenderPipeline</span></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:29</li></ul></aside>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:30</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -60,24 +60,24 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> raw: <span class="tsd-signature-type">RawDebugRenderPipeline</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="DebugRenderPipeline.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderPipeline</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:37</li></ul></aside></li></ul></section></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:38</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="colors" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>colors</span><a href="#colors" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">colors<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:32</li></ul></aside></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:33</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="raw" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>raw</span><a href="#raw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">raw<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">RawDebugRenderPipeline</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:30</li></ul></aside></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:31</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:31</li></ul></aside></section></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:32</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="free" class="tsd-anchor"></a>
@@ -89,11 +89,11 @@ <h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permali
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:36</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:37</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="render" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>render</span><a href="#render" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="render.render-1">render<span class="tsd-signature-symbol">(</span>bodies<span class="tsd-signature-symbol">: </span><a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a>, colliders<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a>, impulse_joints<span class="tsd-signature-symbol">: </span><a href="ImpulseJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">ImpulseJointSet</a>, multibody_joints<span class="tsd-signature-symbol">: </span><a href="MultibodyJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJointSet</a>, narrow_phase<span class="tsd-signature-symbol">: </span><a href="NarrowPhase.html" class="tsd-signature-type" data-tsd-kind="Class">NarrowPhase</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#render.render-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-signature tsd-anchor-link" id="render.render-1">render<span class="tsd-signature-symbol">(</span>bodies<span class="tsd-signature-symbol">: </span><a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a>, colliders<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a>, impulse_joints<span class="tsd-signature-symbol">: </span><a href="ImpulseJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">ImpulseJointSet</a>, multibody_joints<span class="tsd-signature-symbol">: </span><a href="MultibodyJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJointSet</a>, narrow_phase<span class="tsd-signature-symbol">: </span><a href="NarrowPhase.html" class="tsd-signature-type" data-tsd-kind="Class">NarrowPhase</a>, filterFlags<span class="tsd-signature-symbol">?: </span><a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a>, filterPredicate<span class="tsd-signature-symbol">?: </span><span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol"> =&gt; </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#render.render-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
 <li class="tsd-description">
 <div class="tsd-parameters">
 <h4 class="tsd-parameters-title">Parameters</h4>
@@ -107,10 +107,25 @@ <h5>impulse_joints: <a href="ImpulseJointSet.html" class="tsd-signature-type" da
 <li>
 <h5>multibody_joints: <a href="MultibodyJointSet.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJointSet</a></h5></li>
 <li>
-<h5>narrow_phase: <a href="NarrowPhase.html" class="tsd-signature-type" data-tsd-kind="Class">NarrowPhase</a></h5></li></ul></div>
+<h5>narrow_phase: <a href="NarrowPhase.html" class="tsd-signature-type" data-tsd-kind="Class">NarrowPhase</a></h5></li>
+<li>
+<h5><code class="tsd-tag ts-flagOptional">Optional</code> filterFlags: <a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a></h5></li>
+<li>
+<h5><code class="tsd-tag ts-flagOptional">Optional</code> filterPredicate: <span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol"> =&gt; </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span></h5>
+<ul class="tsd-parameters">
+<li class="tsd-parameter-signature">
+<ul class="tsd-signatures tsd-kind-type-literal">
+<li class="tsd-signature"><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/debug_render_pipeline.d.ts:38</li></ul></aside></li></ul></section></section></div>
+<li>Defined in pipeline/debug_render_pipeline.d.ts:39</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
diff --git a/static/javascript3d/classes/HalfSpace.html b/static/javascript3d/classes/HalfSpace.html
index 2ca8030..2436781 100644
--- a/static/javascript3d/classes/HalfSpace.html
+++ b/static/javascript3d/classes/HalfSpace.html
@@ -22,7 +22,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">HalfSpace</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:170</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:171</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -69,7 +69,7 @@ <h5>normal: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-
 <h4 class="tsd-returns-title">Returns <a href="HalfSpace.html" class="tsd-signature-type" data-tsd-kind="Class">HalfSpace</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:181</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:182</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="normal" class="tsd-anchor"></a>
@@ -78,13 +78,13 @@ <h3 class="tsd-anchor-link"><span>normal</span><a href="#normal" aria-label="Per
 <div class="tsd-comment tsd-typography"><p>The outward normal of the half-space.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:175</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:176</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#HalfSpace" class="tsd-signature-type" data-tsd-kind="Enumeration Member">HalfSpace</a><span class="tsd-signature-symbol"> = ShapeType.HalfSpace</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:171</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:172</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -186,7 +186,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -314,7 +314,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:182</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:183</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Heightfield.html b/static/javascript3d/classes/Heightfield.html
index 779844e..324ed20 100644
--- a/static/javascript3d/classes/Heightfield.html
+++ b/static/javascript3d/classes/Heightfield.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Heightfield</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:436</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:465</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -91,7 +91,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> flags: <a href="../enu
 <h4 class="tsd-returns-title">Returns <a href="Heightfield.html" class="tsd-signature-type" data-tsd-kind="Class">Heightfield</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:468</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:497</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="flags" class="tsd-anchor"></a>
@@ -100,7 +100,7 @@ <h3 class="tsd-anchor-link"><span>flags</span><a href="#flags" aria-label="Perma
 <div class="tsd-comment tsd-typography"><p>Flags applied to the heightfield.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:458</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:487</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="heights" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>heights</span><a href="#heights" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">heights<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
@@ -108,34 +108,34 @@ <h3 class="tsd-anchor-link"><span>heights</span><a href="#heights" aria-label="P
 provided as a matrix stored in column-major order.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:450</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:479</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="ncols" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>ncols</span><a href="#ncols" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">ncols<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The number of columns in the heights matrix.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:445</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:474</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="nrows" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>nrows</span><a href="#nrows" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">nrows<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The number of rows in the heights matrix.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:441</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:470</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="scale" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>scale</span><a href="#scale" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">scale<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The dimensions of the heightfield&#39;s local <code>x,z</code> plane.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:454</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:483</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#HeightField" class="tsd-signature-type" data-tsd-kind="Enumeration Member">HeightField</a><span class="tsd-signature-symbol"> = ShapeType.HeightField</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:437</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:466</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -237,7 +237,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -365,7 +365,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:469</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:498</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/IntegrationParameters.html b/static/javascript3d/classes/IntegrationParameters.html
index f98a343..a75ad12 100644
--- a/static/javascript3d/classes/IntegrationParameters.html
+++ b/static/javascript3d/classes/IntegrationParameters.html
@@ -36,8 +36,9 @@ <h3 class="tsd-index-heading">Properties</h3>
 </div></section>
 <section class="tsd-index-section">
 <h3 class="tsd-index-heading">Accessors</h3>
-<div class="tsd-index-list"><a href="IntegrationParameters.html#dt" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4D4D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-262144-path"></rect><path d="M8.85 16L11.13 7.24H12.582L14.85 16H13.758L13.182 13.672H10.53L9.954 16H8.85ZM10.746 12.76H12.954L12.282 10.06C12.154 9.548 12.054 9.12 11.982 8.776C11.91 8.432 11.866 8.208 11.85 8.104C11.834 8.208 11.79 8.432 11.718 8.776C11.646 9.12 11.546 9.544 11.418 10.048L10.746 12.76Z" fill="var(--color-text)" id="icon-262144-text"></path></svg><span>dt</span></a>
-<a href="IntegrationParameters.html#erp" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>erp</span></a>
+<div class="tsd-index-list"><a href="IntegrationParameters.html#contact_erp" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4D4D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-262144-path"></rect><path d="M8.85 16L11.13 7.24H12.582L14.85 16H13.758L13.182 13.672H10.53L9.954 16H8.85ZM10.746 12.76H12.954L12.282 10.06C12.154 9.548 12.054 9.12 11.982 8.776C11.91 8.432 11.866 8.208 11.85 8.104C11.834 8.208 11.79 8.432 11.718 8.776C11.646 9.12 11.546 9.544 11.418 10.048L10.746 12.76Z" fill="var(--color-text)" id="icon-262144-text"></path></svg><span>contact_<wbr/>erp</span></a>
+<a href="IntegrationParameters.html#contact_natural_frequency" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>contact_<wbr/>natural_<wbr/>frequency</span></a>
+<a href="IntegrationParameters.html#dt" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>dt</span></a>
 <a href="IntegrationParameters.html#lengthUnit" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>length<wbr/>Unit</span></a>
 <a href="IntegrationParameters.html#maxCcdSubsteps" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>max<wbr/>Ccd<wbr/>Substeps</span></a>
 <a href="IntegrationParameters.html#minIslandSize" class="tsd-index-link tsd-kind-accessor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg><span>min<wbr/>Island<wbr/>Size</span></a>
@@ -78,17 +79,21 @@ <h3 class="tsd-anchor-link"><span>raw</span><a href="#raw" aria-label="Permalink
 <li>Defined in dynamics/integration_parameters.d.ts:3</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Accessors</h2>
-<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="dt" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>dt</span><a href="#dt" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="contact_erp" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>contact_<wbr/>erp</span><a href="#contact_erp" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
-<li class="tsd-signature" id="dt.dt-1"><span class="tsd-signature-symbol">get</span> dt<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span></li>
+<li class="tsd-signature" id="contact_erp.contact_erp-1"><span class="tsd-signature-symbol">get</span> contact_erp<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span></li>
 <li class="tsd-description">
-<div class="tsd-comment tsd-typography"><p>The timestep length (default: <code>1.0 / 60.0</code>)</p>
+<div class="tsd-comment tsd-typography"><p>The Error Reduction Parameter in <code>[0, 1]</code> is the proportion of
+the positional error to be corrected at each time step (default: <code>0.2</code>).</p>
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/integration_parameters.d.ts:12</li></ul></aside></li>
-<li class="tsd-signature" id="dt.dt-2"><span class="tsd-signature-symbol">set</span> dt<span class="tsd-signature-symbol">(</span>value<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
+<li>Defined in dynamics/integration_parameters.d.ts:17</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="contact_natural_frequency" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>contact_<wbr/>natural_<wbr/>frequency</span><a href="#contact_natural_frequency" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
+<li class="tsd-signature" id="contact_natural_frequency.contact_natural_frequency-1"><span class="tsd-signature-symbol">set</span> contact_natural_frequency<span class="tsd-signature-symbol">(</span>value<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
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-<li>Defined in dynamics/integration_parameters.d.ts:51</li></ul></aside></li></ul></section>
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+<li>Defined in dynamics/integration_parameters.d.ts:52</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="dt" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>dt</span><a href="#dt" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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-<li class="tsd-signature" id="erp.erp-1"><span class="tsd-signature-symbol">get</span> erp<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span></li>
+<li class="tsd-signature" id="dt.dt-1"><span class="tsd-signature-symbol">get</span> dt<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span></li>
 <li class="tsd-description">
-<div class="tsd-comment tsd-typography"><p>The Error Reduction Parameter in <code>[0, 1]</code> is the proportion of
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+<div class="tsd-comment tsd-typography"><p>The timestep length (default: <code>1.0 / 60.0</code>)</p>
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/integration_parameters.d.ts:17</li></ul></aside></li>
-<li class="tsd-signature" id="erp.erp-2"><span class="tsd-signature-symbol">set</span> erp<span class="tsd-signature-symbol">(</span>value<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
+<li>Defined in dynamics/integration_parameters.d.ts:12</li></ul></aside></li>
+<li class="tsd-signature" id="dt.dt-2"><span class="tsd-signature-symbol">set</span> dt<span class="tsd-signature-symbol">(</span>value<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/integration_parameters.d.ts:52</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/integration_parameters.d.ts:51</li></ul></aside></li></ul></section>
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 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
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+<li class="tsd-kind-accessor tsd-parent-kind-class"><a href="IntegrationParameters.html#contact_erp" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg>contact_<wbr/>erp</a></li>
+<li class="tsd-kind-accessor tsd-parent-kind-class"><a href="IntegrationParameters.html#contact_natural_frequency" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-262144-path"></use><use href="#icon-262144-text"></use></svg>contact_<wbr/>natural_<wbr/>frequency</a></li>
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diff --git a/static/javascript3d/classes/PidController.html b/static/javascript3d/classes/PidController.html
new file mode 100644
index 0000000..b0881eb
--- /dev/null
+++ b/static/javascript3d/classes/PidController.html
@@ -0,0 +1,283 @@
+<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>PidController | @dimforge/rapier3d</title><meta name="description" content="Documentation for @dimforge/rapier3d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
+<div class="tsd-toolbar-contents container">
+<div class="table-cell" id="tsd-search" data-base="..">
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+<div id="tsd-toolbar-links"></div></div>
+<ul class="results">
+<li class="state loading">Preparing search index...</li>
+<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier3d</a></div>
+<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
+<div class="container container-main">
+<div class="col-8 col-content">
+<div class="tsd-page-title">
+<ul class="tsd-breadcrumb">
+<li><a href="../index.html">@dimforge/rapier3d</a></li>
+<li><a href="PidController.html">PidController</a></li></ul>
+<h1>Class PidController</h1></div>
+<section class="tsd-panel tsd-comment">
+<div class="tsd-comment tsd-typography"><p>A controller for controlling dynamic bodies using the
+Proportional-Integral-Derivative correction model.</p>
+</div></section>
+<section class="tsd-panel tsd-hierarchy">
+<h4>Hierarchy</h4>
+<ul class="tsd-hierarchy">
+<li><span class="target">PidController</span></li></ul></section><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:34</li></ul></aside>
+<section class="tsd-panel-group tsd-index-group">
+<section class="tsd-panel tsd-index-panel">
+<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
+<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
+<div class="tsd-accordion-details">
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Constructors</h3>
+<div class="tsd-index-list"><a href="PidController.html#constructor" class="tsd-index-link tsd-kind-constructor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#4D7FFF" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-512-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-512-text"></path></svg><span>constructor</span></a>
+</div></section>
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Properties</h3>
+<div class="tsd-index-list"><a href="PidController.html#bodies" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-private"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>bodies</span></a>
+<a href="PidController.html#params" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-private"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>params</span></a>
+<a href="PidController.html#raw" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-private"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>raw</span></a>
+</div></section>
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Methods</h3>
+<div class="tsd-index-list"><a href="PidController.html#angularCorrection" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4DB8" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-2048-path"></rect><path d="M9.162 16V7.24H10.578L11.514 10.072C11.602 10.328 11.674 10.584 11.73 10.84C11.794 11.088 11.842 11.28 11.874 11.416C11.906 11.28 11.954 11.088 12.018 10.84C12.082 10.584 12.154 10.324 12.234 10.06L13.122 7.24H14.538V16H13.482V12.82C13.482 12.468 13.49 12.068 13.506 11.62C13.53 11.172 13.558 10.716 13.59 10.252C13.622 9.78 13.654 9.332 13.686 8.908C13.726 8.476 13.762 8.1 13.794 7.78L12.366 12.16H11.334L9.894 7.78C9.934 8.092 9.97 8.456 10.002 8.872C10.042 9.28 10.078 9.716 10.11 10.18C10.142 10.636 10.166 11.092 10.182 11.548C10.206 12.004 10.218 12.428 10.218 12.82V16H9.162Z" fill="var(--color-text)" id="icon-2048-text"></path></svg><span>angular<wbr/>Correction</span></a>
+<a href="PidController.html#applyAngularCorrection" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>apply<wbr/>Angular<wbr/>Correction</span></a>
+<a href="PidController.html#applyLinearCorrection" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>apply<wbr/>Linear<wbr/>Correction</span></a>
+<a href="PidController.html#free" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>free</span></a>
+<a href="PidController.html#linearCorrection" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>linear<wbr/>Correction</span></a>
+<a href="PidController.html#resetIntegrals" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>reset<wbr/>Integrals</span></a>
+<a href="PidController.html#setAxes" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Axes</span></a>
+<a href="PidController.html#setKd" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Kd</span></a>
+<a href="PidController.html#setKi" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Ki</span></a>
+<a href="PidController.html#setKp" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>set<wbr/>Kp</span></a>
+</div></section></div></details></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Constructors</h2>
+<section class="tsd-panel tsd-member tsd-kind-constructor tsd-parent-kind-class"><a id="constructor" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>constructor</span><a href="#constructor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><path stroke="none" d="M0 0h24v24H0z" fill="none" id="icon-anchor-a"></path><path d="M10 14a3.5 3.5 0 0 0 5 0l4 -4a3.5 3.5 0 0 0 -5 -5l-.5 .5" id="icon-anchor-b"></path><path d="M14 10a3.5 3.5 0 0 0 -5 0l-4 4a3.5 3.5 0 0 0 5 5l.5 -.5" id="icon-anchor-c"></path></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-constructor tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="constructor.new_PidController">new <wbr/>Pid<wbr/>Controller<span class="tsd-signature-symbol">(</span>params<span class="tsd-signature-symbol">: </span><a href="IntegrationParameters.html" class="tsd-signature-type" data-tsd-kind="Class">IntegrationParameters</a>, bodies<span class="tsd-signature-symbol">: </span><a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a>, kp<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, ki<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, kd<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a><a href="#constructor.new_PidController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>params: <a href="IntegrationParameters.html" class="tsd-signature-type" data-tsd-kind="Class">IntegrationParameters</a></h5></li>
+<li>
+<h5>bodies: <a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a></h5></li>
+<li>
+<h5>kp: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>ki: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>kd: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:38</li></ul></aside></li></ul></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Properties</h2>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-private"><a id="bodies" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagPrivate">Private</code> <span>bodies</span><a href="#bodies" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">bodies<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">any</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:37</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-private"><a id="params" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagPrivate">Private</code> <span>params</span><a href="#params" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">params<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">any</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:36</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-private"><a id="raw" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagPrivate">Private</code> <span>raw</span><a href="#raw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">raw<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">any</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:35</li></ul></aside></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Methods</h2>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="angularCorrection" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>angular<wbr/>Correction</span><a href="#angularCorrection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="angularCorrection.angularCorrection-1">angular<wbr/>Correction<span class="tsd-signature-symbol">(</span>body<span class="tsd-signature-symbol">: </span><a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a>, targetRotation<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, targetAngVel<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><a href="#angularCorrection.angularCorrection-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h5></li>
+<li>
+<h5>targetRotation: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li>
+<li>
+<h5>targetAngVel: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:49</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="applyAngularCorrection" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>apply<wbr/>Angular<wbr/>Correction</span><a href="#applyAngularCorrection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="applyAngularCorrection.applyAngularCorrection-1">apply<wbr/>Angular<wbr/>Correction<span class="tsd-signature-symbol">(</span>body<span class="tsd-signature-symbol">: </span><a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a>, targetRotation<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, targetAngVel<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#applyAngularCorrection.applyAngularCorrection-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h5></li>
+<li>
+<h5>targetRotation: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li>
+<li>
+<h5>targetAngVel: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:47</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="applyLinearCorrection" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>apply<wbr/>Linear<wbr/>Correction</span><a href="#applyLinearCorrection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="applyLinearCorrection.applyLinearCorrection-1">apply<wbr/>Linear<wbr/>Correction<span class="tsd-signature-symbol">(</span>body<span class="tsd-signature-symbol">: </span><a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a>, targetPosition<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, targetLinvel<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#applyLinearCorrection.applyLinearCorrection-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h5></li>
+<li>
+<h5>targetPosition: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>targetLinvel: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:46</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="free" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="free.free-1">free<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#free.free-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description"><code class="tsd-tag ts-flagInternal">Internal</code> 
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:40</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="linearCorrection" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>linear<wbr/>Correction</span><a href="#linearCorrection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="linearCorrection.linearCorrection-1">linear<wbr/>Correction<span class="tsd-signature-symbol">(</span>body<span class="tsd-signature-symbol">: </span><a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a>, targetPosition<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, targetLinvel<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><a href="#linearCorrection.linearCorrection-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h5></li>
+<li>
+<h5>targetPosition: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>targetLinvel: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:48</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="resetIntegrals" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>reset<wbr/>Integrals</span><a href="#resetIntegrals" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="resetIntegrals.resetIntegrals-1">reset<wbr/>Integrals<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#resetIntegrals.resetIntegrals-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:45</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAxes" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Axes</span><a href="#setAxes" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setAxes.setAxes-1">set<wbr/>Axes<span class="tsd-signature-symbol">(</span>axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setAxes.setAxes-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:44</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setKd" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Kd</span><a href="#setKd" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setKd.setKd-1">set<wbr/>Kd<span class="tsd-signature-symbol">(</span>kd<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setKd.setKd-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>kd: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:43</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setKi" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Ki</span><a href="#setKi" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setKi.setKi-1">set<wbr/>Ki<span class="tsd-signature-symbol">(</span>ki<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setKi.setKi-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ki: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:42</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setKp" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>set<wbr/>Kp</span><a href="#setKp" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="setKp.setKp-1">set<wbr/>Kp<span class="tsd-signature-symbol">(</span>kp<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#setKp.setKp-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>kp: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:41</li></ul></aside></li></ul></section></section></div>
+<div class="col-4 col-menu menu-sticky-wrap menu-highlight">
+<div class="tsd-navigation settings">
+<details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
+<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Settings</h3></summary>
+<div class="tsd-accordion-details">
+<div class="tsd-filter-visibility">
+<h4 class="uppercase">Member Visibility</h4><form>
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+<div class="tsd-theme-toggle">
+<h4 class="uppercase">Theme</h4><select id="theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div>
+<nav class="tsd-navigation primary">
+<details class="tsd-index-accordion" open><summary class="tsd-accordion-summary">
+<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Modules</h3></summary>
+<div class="tsd-accordion-details">
+<ul>
+<li><a href="../index.html">@dimforge/rapier3d</a>
+<ul>
+<li class="tsd-kind-namespace"><a href="../modules/default.html">default</a></li></ul></li></ul></div></details></nav>
+<nav class="tsd-navigation secondary menu-sticky">
+<ul>
+<li class="current tsd-kind-class"><a href="PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-class)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-128-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-128-text"></path></svg><span>Pid<wbr/>Controller</span></a>
+<ul>
+<li class="tsd-kind-constructor tsd-parent-kind-class"><a href="PidController.html#constructor" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-512-path"></use><use href="#icon-512-text"></use></svg>constructor</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class tsd-is-private"><a href="PidController.html#bodies" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>bodies</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class tsd-is-private"><a href="PidController.html#params" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>params</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class tsd-is-private"><a href="PidController.html#raw" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>raw</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#angularCorrection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>angular<wbr/>Correction</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#applyAngularCorrection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>apply<wbr/>Angular<wbr/>Correction</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#applyLinearCorrection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>apply<wbr/>Linear<wbr/>Correction</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#free" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>free</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#linearCorrection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>linear<wbr/>Correction</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#resetIntegrals" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>reset<wbr/>Integrals</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#setAxes" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Axes</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#setKd" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Kd</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#setKi" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Ki</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="PidController.html#setKp" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>set<wbr/>Kp</a></li></ul></li></ul></nav></div></div>
+<div class="container tsd-generator">
+<p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
+<div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript3d/classes/Polyline.html b/static/javascript3d/classes/Polyline.html
index 1538f5a..a552577 100644
--- a/static/javascript3d/classes/Polyline.html
+++ b/static/javascript3d/classes/Polyline.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Polyline</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:332</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:333</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -78,7 +78,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> indices: <span class="
 <h4 class="tsd-returns-title">Returns <a href="Polyline.html" class="tsd-signature-type" data-tsd-kind="Class">Polyline</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:349</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:350</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="indices" class="tsd-anchor"></a>
@@ -87,20 +87,20 @@ <h3 class="tsd-anchor-link"><span>indices</span><a href="#indices" aria-label="P
 <div class="tsd-comment tsd-typography"><p>The indices of the segments.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:341</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:342</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Polyline" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Polyline</a><span class="tsd-signature-symbol"> = ShapeType.Polyline</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:333</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:334</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The vertices of the polyline.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:337</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:338</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -202,7 +202,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -330,7 +330,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:350</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:351</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/QueryPipeline.html b/static/javascript3d/classes/QueryPipeline.html
index bc56eda..7ff8e24 100644
--- a/static/javascript3d/classes/QueryPipeline.html
+++ b/static/javascript3d/classes/QueryPipeline.html
@@ -132,7 +132,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayColliderHit.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:75</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:74</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRayAndGetNormal" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span><a href="#castRayAndGetNormal" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -188,7 +188,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayColliderIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderIntersection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:89</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:88</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Shape</span><a href="#castShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -237,7 +237,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li>
 <li>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> filterFlags: <a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a></h5></li>
@@ -262,7 +262,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:170</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:169</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="collidersWithAabbIntersectingAabb" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>colliders<wbr/>With<wbr/>Aabb<wbr/>Intersecting<wbr/>Aabb</span><a href="#collidersWithAabbIntersectingAabb" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -299,7 +299,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:191</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:190</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="free" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -361,7 +361,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:115</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:114</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Point</span><a href="#intersectionsWithPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -421,7 +421,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:149</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:148</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithRay" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Ray</span><a href="#intersectionsWithRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -492,7 +492,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:104</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:103</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Shape</span><a href="#intersectionsWithShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -559,7 +559,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:182</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:181</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -611,7 +611,7 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointColliderProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointColliderProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:129</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:128</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPointAndGetFeature" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point<wbr/>And<wbr/>Get<wbr/>Feature</span><a href="#projectPointAndGetFeature" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -655,11 +655,11 @@ <h5>collider: <span class="tsd-signature-type">number</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointColliderProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointColliderProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:138</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/query_pipeline.d.ts:137</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="update" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>update</span><a href="#update" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="update.update-1">update<span class="tsd-signature-symbol">(</span>bodies<span class="tsd-signature-symbol">: </span><a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a>, colliders<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#update.update-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-signature tsd-anchor-link" id="update.update-1">update<span class="tsd-signature-symbol">(</span>colliders<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#update.update-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Updates the acceleration structure of the query pipeline.</p>
 </div>
@@ -667,16 +667,12 @@ <h3 class="tsd-anchor-link"><span>update</span><a href="#update" aria-label="Per
 <h4 class="tsd-parameters-title">Parameters</h4>
 <ul class="tsd-parameter-list">
 <li>
-<h5>bodies: <a href="RigidBodySet.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodySet</a></h5>
-<div class="tsd-comment tsd-typography"><p>The set of rigid-bodies taking part in this pipeline.</p>
-</div></li>
-<li>
 <h5>colliders: <a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a></h5>
 <div class="tsd-comment tsd-typography"><p>The set of colliders taking part in this pipeline.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/query_pipeline.d.ts:61</li></ul></aside></li></ul></section></section></div>
+<li>Defined in pipeline/query_pipeline.d.ts:60</li></ul></aside></li></ul></section></section></div>
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 <div class="tsd-navigation settings">
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diff --git a/static/javascript3d/classes/RayColliderToi.html b/static/javascript3d/classes/RayColliderToi.html
deleted file mode 100644
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--- a/static/javascript3d/classes/RayColliderToi.html
+++ /dev/null
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-<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>RayColliderToi | @dimforge/rapier3d</title><meta name="description" content="Documentation for @dimforge/rapier3d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
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-<ul class="results">
-<li class="state loading">Preparing search index...</li>
-<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier3d</a></div>
-<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
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-<div class="tsd-page-title">
-<ul class="tsd-breadcrumb">
-<li><a href="../index.html">@dimforge/rapier3d</a></li>
-<li><a href="RayColliderToi.html">RayColliderToi</a></li></ul>
-<h1>Class RayColliderToi</h1></div>
-<section class="tsd-panel tsd-comment">
-<div class="tsd-comment tsd-typography"><p>The time of impact between a ray and a collider.</p>
-</div></section>
-<section class="tsd-panel tsd-hierarchy">
-<h4>Hierarchy</h4>
-<ul class="tsd-hierarchy">
-<li><span class="target">RayColliderToi</span></li></ul></section><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/ray.d.ts:84</li></ul></aside>
-<section class="tsd-panel-group tsd-index-group">
-<section class="tsd-panel tsd-index-panel">
-<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
-<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
-<div class="tsd-accordion-details">
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Constructors</h3>
-<div class="tsd-index-list"><a href="RayColliderToi.html#constructor" class="tsd-index-link tsd-kind-constructor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#4D7FFF" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-512-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-512-text"></path></svg><span>constructor</span></a>
-</div></section>
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Properties</h3>
-<div class="tsd-index-list"><a href="RayColliderToi.html#collider" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>collider</span></a>
-<a href="RayColliderToi.html#toi" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>toi</span></a>
-</div></section>
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Methods</h3>
-<div class="tsd-index-list"><a href="RayColliderToi.html#fromRaw" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4DB8" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-2048-path"></rect><path d="M9.162 16V7.24H10.578L11.514 10.072C11.602 10.328 11.674 10.584 11.73 10.84C11.794 11.088 11.842 11.28 11.874 11.416C11.906 11.28 11.954 11.088 12.018 10.84C12.082 10.584 12.154 10.324 12.234 10.06L13.122 7.24H14.538V16H13.482V12.82C13.482 12.468 13.49 12.068 13.506 11.62C13.53 11.172 13.558 10.716 13.59 10.252C13.622 9.78 13.654 9.332 13.686 8.908C13.726 8.476 13.762 8.1 13.794 7.78L12.366 12.16H11.334L9.894 7.78C9.934 8.092 9.97 8.456 10.002 8.872C10.042 9.28 10.078 9.716 10.11 10.18C10.142 10.636 10.166 11.092 10.182 11.548C10.206 12.004 10.218 12.428 10.218 12.82V16H9.162Z" fill="var(--color-text)" id="icon-2048-text"></path></svg><span>from<wbr/>Raw</span></a>
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-<section class="tsd-panel-group tsd-member-group">
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-<h3 class="tsd-anchor-link"><span>constructor</span><a href="#constructor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><path stroke="none" d="M0 0h24v24H0z" fill="none" id="icon-anchor-a"></path><path d="M10 14a3.5 3.5 0 0 0 5 0l4 -4a3.5 3.5 0 0 0 -5 -5l-.5 .5" id="icon-anchor-b"></path><path d="M14 10a3.5 3.5 0 0 0 -5 0l-4 4a3.5 3.5 0 0 0 5 5l.5 -.5" id="icon-anchor-c"></path></svg></a></h3>
-<ul class="tsd-signatures tsd-kind-constructor tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="constructor.new_RayColliderToi">new <wbr/>Ray<wbr/>Collider<wbr/>Toi<span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a>, toi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="RayColliderToi.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderToi</a><a href="#constructor.new_RayColliderToi" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
-<li class="tsd-description">
-<div class="tsd-parameters">
-<h4 class="tsd-parameters-title">Parameters</h4>
-<ul class="tsd-parameter-list">
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-<h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li>
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-<h4 class="tsd-returns-title">Returns <a href="RayColliderToi.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderToi</a></h4><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/ray.d.ts:95</li></ul></aside></li></ul></section></section>
-<section class="tsd-panel-group tsd-member-group">
-<h2>Properties</h2>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="collider" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>collider</span><a href="#collider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">collider<span class="tsd-signature-symbol">:</span> <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></div>
-<div class="tsd-comment tsd-typography"><p>The handle of the collider hit by the ray.</p>
-</div><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/ray.d.ts:88</li></ul></aside></section>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="toi" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>toi</span><a href="#toi" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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index 7d6376d..27a969e 100644
--- a/static/javascript3d/classes/RigidBody.html
+++ b/static/javascript3d/classes/RigidBody.html
@@ -108,6 +108,9 @@ <h3 class="tsd-index-heading">Methods</h3>
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 <a href="RigidBody.html#softCcdPrediction" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>soft<wbr/>Ccd<wbr/>Prediction</span></a>
 <a href="RigidBody.html#translation" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>translation</span></a>
+<a href="RigidBody.html#userForce" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>user<wbr/>Force</span></a>
+<a href="RigidBody.html#userTorque" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>user<wbr/>Torque</span></a>
+<a href="RigidBody.html#velocityAtPoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>velocity<wbr/>At<wbr/>Point</span></a>
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 </div></section></div></details></section></section>
@@ -176,7 +179,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:457</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:461</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="addForceAtPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>add<wbr/>Force<wbr/>At<wbr/>Point</span><a href="#addForceAtPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:486</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:490</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="addTorque" class="tsd-anchor"></a>
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@@ -222,7 +225,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:471</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:475</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="additionalSolverIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>additional<wbr/>Solver<wbr/>Iterations</span><a href="#additionalSolverIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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@@ -244,7 +247,7 @@ <h3 class="tsd-anchor-link"><span>angular<wbr/>Damping</span><a href="#angularDa
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:385</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:389</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="angvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>angvel</span><a href="#angvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:260</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:264</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="applyImpulse" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>apply<wbr/>Impulse</span><a href="#applyImpulse" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -275,7 +278,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:464</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:468</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="applyImpulseAtPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>apply<wbr/>Impulse<wbr/>At<wbr/>Point</span><a href="#applyImpulseAtPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -300,7 +303,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:494</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:498</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="applyTorqueImpulse" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>apply<wbr/>Torque<wbr/>Impulse</span><a href="#applyTorqueImpulse" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -321,7 +324,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:478</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:482</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="bodyType" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>body<wbr/>Type</span><a href="#bodyType" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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@@ -331,7 +334,7 @@ <h3 class="tsd-anchor-link"><span>body<wbr/>Type</span><a href="#bodyType" aria-
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 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:353</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:357</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="collider" class="tsd-anchor"></a>
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 <ul>
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+<li>Defined in dynamics/rigid_body.d.ts:343</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="dominanceGroup" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>dominance<wbr/>Group</span><a href="#dominanceGroup" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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 <h4 class="tsd-returns-title">Returns <a href="SdpMatrix3.html" class="tsd-signature-type" data-tsd-kind="Class">SdpMatrix3</a></h4><aside class="tsd-sources">
 <ul>
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:373</li></ul></aside></li></ul></section>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:365</li></ul></aside></li></ul></section>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:361</li></ul></aside></li></ul></section>
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 <h3 class="tsd-anchor-link"><span>is<wbr/>Valid</span><a href="#isValid" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:381</li></ul></aside></li></ul></section>
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 <h3 class="tsd-anchor-link"><span>linvel</span><a href="#linvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:278</li></ul></aside></li></ul></section>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:264</li></ul></aside></li></ul></section>
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 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="nextRotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>next<wbr/>Rotation</span><a href="#nextRotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:332</li></ul></aside></li></ul></section>
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 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="principalInertia" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>principal<wbr/>Inertia</span><a href="#principalInertia" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:292</li></ul></aside></li></ul></section>
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 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="principalInertiaLocalFrame" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:296</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:300</li></ul></aside></li></ul></section>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:395</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:399</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="resetForces" class="tsd-anchor"></a>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:444</li></ul></aside></li></ul></section>
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 <ul>
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 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:415</li></ul></aside></li></ul></section>
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 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalMassProperties" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -851,7 +854,7 @@ <h5>angularInertiaLocalFrame: <a href="../interfaces/Rotation.html" class="tsd-s
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:432</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:436</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalSolverIterations" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -890,7 +893,7 @@ <h5>factor: <span class="tsd-signature-type">number</span></h5>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:438</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:442</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAngvel" class="tsd-anchor"></a>
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 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -928,7 +931,7 @@ <h5>type: <a href="../enums/RigidBodyType.html" class="tsd-signature-type" data-
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:357</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:361</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setDominanceGroup" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Dominance<wbr/>Group</span><a href="#setDominanceGroup" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:345</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:349</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setEnabledRotations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Enabled<wbr/>Rotations</span><a href="#setEnabledRotations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:391</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:395</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setLinvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Linvel</span><a href="#setLinvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1198,7 +1201,7 @@ <h3 class="tsd-anchor-link"><span>sleep</span><a href="#sleep" aria-label="Perma
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 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:314</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:318</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="softCcdPrediction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>soft<wbr/>Ccd<wbr/>Prediction</span><a href="#softCcdPrediction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1221,6 +1224,43 @@ <h3 class="tsd-anchor-link"><span>translation</span><a href="#translation" aria-
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 <ul>
 <li>Defined in dynamics/rigid_body.d.ts:162</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="userForce" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>user<wbr/>Force</span><a href="#userForce" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="userForce.userForce-1">user<wbr/>Force<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><a href="#userForce.userForce-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Retrieves the constant force(s) the user added to this rigid-body
+Returns zero if the rigid-body is not dynamic.</p>
+</div>
+<h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in dynamics/rigid_body.d.ts:503</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="userTorque" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>user<wbr/>Torque</span><a href="#userTorque" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="userTorque.userTorque-1">user<wbr/>Torque<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><a href="#userTorque.userTorque-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Retrieves the constant torque(s) the user added to this rigid-body
+Returns zero if the rigid-body is not dynamic.</p>
+</div>
+<h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in dynamics/rigid_body.d.ts:508</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="velocityAtPoint" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>velocity<wbr/>At<wbr/>Point</span><a href="#velocityAtPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="velocityAtPoint.velocityAtPoint-1">velocity<wbr/>At<wbr/>Point<span class="tsd-signature-symbol">(</span>point<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><a href="#velocityAtPoint.velocityAtPoint-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>The velocity of the given world-space point on this rigid-body.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>point: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in dynamics/rigid_body.d.ts:260</li></ul></aside></li></ul></section>
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 <ul>
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+<li>Defined in dynamics/rigid_body.d.ts:328</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="worldCom" class="tsd-anchor"></a>
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@@ -1245,7 +1285,7 @@ <h3 class="tsd-anchor-link"><span>world<wbr/>Com</span><a href="#worldCom" aria-
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 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:282</li></ul></aside></li></ul></section></section></div>
+<li>Defined in dynamics/rigid_body.d.ts:286</li></ul></aside></li></ul></section></section></div>
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+<li class="tsd-kind-method tsd-parent-kind-class"><a href="RigidBody.html#userForce" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>user<wbr/>Force</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="RigidBody.html#userTorque" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>user<wbr/>Torque</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="RigidBody.html#velocityAtPoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>velocity<wbr/>At<wbr/>Point</a></li>
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diff --git a/static/javascript3d/classes/RigidBodyDesc.html b/static/javascript3d/classes/RigidBodyDesc.html
index 6934ee1..2c073c5 100644
--- a/static/javascript3d/classes/RigidBodyDesc.html
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 <ul>
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+<li>Defined in dynamics/rigid_body.d.ts:510</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
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 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:524</li></ul></aside></li></ul></section></section>
+<li>Defined in dynamics/rigid_body.d.ts:538</li></ul></aside></li></ul></section></section>
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 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="additionalSolverIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>additional<wbr/>Solver<wbr/>Iterations</span><a href="#additionalSolverIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">additional<wbr/>Solver<wbr/>Iterations<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:522</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:536</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="angularDamping" class="tsd-anchor"></a>
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 <div class="tsd-signature">angular<wbr/>Damping<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:515</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:529</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="angularInertiaLocalFrame" class="tsd-anchor"></a>
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 <div class="tsd-signature">angular<wbr/>Inertia<wbr/>Local<wbr/>Frame<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:509</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:523</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="angvel" class="tsd-anchor"></a>
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 <div class="tsd-signature">angvel<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:507</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:521</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="canSleep" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>can<wbr/>Sleep</span><a href="#canSleep" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">can<wbr/>Sleep<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:517</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:531</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="ccdEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>ccd<wbr/>Enabled</span><a href="#ccdEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">ccd<wbr/>Enabled<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:519</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:533</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="centerOfMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>center<wbr/>Of<wbr/>Mass</span><a href="#centerOfMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">center<wbr/>Of<wbr/>Mass<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:503</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:517</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="dominanceGroup" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>dominance<wbr/>Group</span><a href="#dominanceGroup" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">dominance<wbr/>Group<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:521</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:535</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="enabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>enabled</span><a href="#enabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">enabled<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:497</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:511</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="gravityScale" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>gravity<wbr/>Scale</span><a href="#gravityScale" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">gravity<wbr/>Scale<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:500</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:514</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="linearDamping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>linear<wbr/>Damping</span><a href="#linearDamping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">linear<wbr/>Damping<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:514</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:528</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="linvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>linvel</span><a href="#linvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">linvel<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:506</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:520</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="mass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass</span><a href="#mass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">mass<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:501</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:515</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="massOnly" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>mass<wbr/>Only</span><a href="#massOnly" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">mass<wbr/>Only<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:502</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:516</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="principalAngularInertia" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>principal<wbr/>Angular<wbr/>Inertia</span><a href="#principalAngularInertia" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">principal<wbr/>Angular<wbr/>Inertia<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:508</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:522</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotation</span><a href="#rotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotation<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:499</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:513</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotationsEnabledX" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotations<wbr/>EnabledX</span><a href="#rotationsEnabledX" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotations<wbr/>EnabledX<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:511</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:525</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotationsEnabledY" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotations<wbr/>EnabledY</span><a href="#rotationsEnabledY" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotations<wbr/>EnabledY<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:512</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:526</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="rotationsEnabledZ" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>rotations<wbr/>EnabledZ</span><a href="#rotationsEnabledZ" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">rotations<wbr/>EnabledZ<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:513</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:527</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="sleeping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>sleeping</span><a href="#sleeping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">sleeping<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:518</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:532</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="softCcdPrediction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>soft<wbr/>Ccd<wbr/>Prediction</span><a href="#softCcdPrediction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">soft<wbr/>Ccd<wbr/>Prediction<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:520</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:534</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="status" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>status</span><a href="#status" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">status<span class="tsd-signature-symbol">:</span> <a href="../enums/RigidBodyType.html" class="tsd-signature-type" data-tsd-kind="Enumeration">RigidBodyType</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:516</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:530</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translation</span><a href="#translation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translation<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:498</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:512</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translationsEnabledX" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translations<wbr/>EnabledX</span><a href="#translationsEnabledX" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translations<wbr/>EnabledX<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:504</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:518</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translationsEnabledY" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translations<wbr/>EnabledY</span><a href="#translationsEnabledY" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translations<wbr/>EnabledY<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:505</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:519</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="translationsEnabledZ" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>translations<wbr/>EnabledZ</span><a href="#translationsEnabledZ" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">translations<wbr/>EnabledZ<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">boolean</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:510</li></ul></aside></section>
+<li>Defined in dynamics/rigid_body.d.ts:524</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="userData" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagOptional">Optional</code> <span>user<wbr/>Data</span><a href="#userData" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">user<wbr/>Data<span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-type">unknown</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:523</li></ul></aside></section></section>
+<li>Defined in dynamics/rigid_body.d.ts:537</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="enabledRotations" class="tsd-anchor"></a>
@@ -272,7 +272,7 @@ <h5>rotationsEnabledZ: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:669</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:683</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="enabledTranslations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>enabled<wbr/>Translations</span><a href="#enabledTranslations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -297,7 +297,7 @@ <h5>translationsEnabledZ: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:649</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:663</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="lockRotations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>lock<wbr/>Rotations</span><a href="#lockRotations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -308,7 +308,7 @@ <h3 class="tsd-anchor-link"><span>lock<wbr/>Rotations</span><a href="#lockRotati
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:682</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:696</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="lockTranslations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>lock<wbr/>Translations</span><a href="#lockTranslations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -319,7 +319,7 @@ <h3 class="tsd-anchor-link"><span>lock<wbr/>Translations</span><a href="#lockTra
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:662</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:676</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restrictRotations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restrict<wbr/>Rotations</span><a href="#restrictRotations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -346,7 +346,7 @@ <h5>rotationsEnabledZ: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:677</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:691</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restrictTranslations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>restrict<wbr/>Translations</span><a href="#restrictTranslations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -373,7 +373,7 @@ <h5>translationsEnabledZ: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:657</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:671</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalMass" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Additional<wbr/>Mass</span><a href="#setAdditionalMass" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -390,7 +390,7 @@ <h5>mass: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:608</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:622</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalMassProperties" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Additional<wbr/>Mass<wbr/>Properties</span><a href="#setAdditionalMassProperties" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -428,7 +428,7 @@ <h5>angularInertiaLocalFrame: <a href="../interfaces/Rotation.html" class="tsd-s
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:642</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:656</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAdditionalSolverIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Additional<wbr/>Solver<wbr/>Iterations</span><a href="#setAdditionalSolverIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -450,7 +450,7 @@ <h5>iters: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:577</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:591</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAngularDamping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Angular<wbr/>Damping</span><a href="#setAngularDamping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -469,7 +469,7 @@ <h5>damping: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:700</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:714</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setAngvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Angvel</span><a href="#setAngvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -486,7 +486,7 @@ <h5>vel: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:622</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:636</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setCanSleep" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Can<wbr/>Sleep</span><a href="#setCanSleep" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -503,7 +503,7 @@ <h5>can: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:706</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:720</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setCcdEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Ccd<wbr/>Enabled</span><a href="#setCcdEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -520,7 +520,7 @@ <h5>enabled: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:718</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:732</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setDominanceGroup" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Dominance<wbr/>Group</span><a href="#setDominanceGroup" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -533,7 +533,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>group: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:565</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:579</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setEnabled" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Enabled</span><a href="#setEnabled" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -550,7 +550,7 @@ <h5>enabled: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:582</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:596</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setGravityScale" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Gravity<wbr/>Scale</span><a href="#setGravityScale" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -569,7 +569,7 @@ <h5>scale: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:602</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:616</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setLinearDamping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Linear<wbr/>Damping</span><a href="#setLinearDamping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -588,7 +588,7 @@ <h5>damping: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:691</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:705</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setLinvel" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Linvel</span><a href="#setLinvel" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -613,7 +613,7 @@ <h5>z: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:616</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:630</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setRotation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Rotation</span><a href="#setRotation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -630,7 +630,7 @@ <h5>rot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-t
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:594</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:608</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSleeping" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Sleeping</span><a href="#setSleeping" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -645,7 +645,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
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 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:712</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:726</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setSoftCcdPrediction" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Soft<wbr/>Ccd<wbr/>Prediction</span><a href="#setSoftCcdPrediction" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -667,7 +667,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>distance: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:731</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:745</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setTranslation" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>Translation</span><a href="#setTranslation" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -686,7 +686,7 @@ <h5>y: <span class="tsd-signature-type">number</span></h5></li>
 <h5>z: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:588</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:602</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="setUserData" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>set<wbr/>User<wbr/>Data</span><a href="#setUserData" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -701,7 +701,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> data: <span class="tsd-signature-type">unknown</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:737</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:751</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="dynamic" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>dynamic</span><a href="#dynamic" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -711,7 +711,7 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <s
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:528</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:542</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="fixed" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>fixed</span><a href="#fixed" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -721,7 +721,7 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <s
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:540</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:554</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="kinematicPositionBased" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>kinematic<wbr/>Position<wbr/>Based</span><a href="#kinematicPositionBased" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -731,7 +731,7 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <s
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:532</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:546</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="kinematicVelocityBased" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>kinematic<wbr/>Velocity<wbr/>Based</span><a href="#kinematicVelocityBased" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -741,7 +741,7 @@ <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <s
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:536</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:550</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="newDynamic" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>new<wbr/>Dynamic</span><a href="#newDynamic" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -753,7 +753,7 @@ <h3>Deprecated</h3><p>The method has been renamed to <code>.dynamic()</code>.</p
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:546</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:560</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="newKinematicPositionBased" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>new<wbr/>Kinematic<wbr/>Position<wbr/>Based</span><a href="#newKinematicPositionBased" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -765,7 +765,7 @@ <h3>Deprecated</h3><p>The method has been renamed to <code>.kinematicPositionBas
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:552</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:566</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="newKinematicVelocityBased" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>new<wbr/>Kinematic<wbr/>Velocity<wbr/>Based</span><a href="#newKinematicVelocityBased" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -777,7 +777,7 @@ <h3>Deprecated</h3><p>The method has been renamed to <code>.kinematicVelocityBas
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:558</li></ul></aside></li></ul></section>
+<li>Defined in dynamics/rigid_body.d.ts:572</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="newStatic" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>new<wbr/>Static</span><a href="#newStatic" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -789,7 +789,7 @@ <h3>Deprecated</h3><p>The method has been renamed to <code>.fixed()</code>.</p>
 </div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBodyDesc</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in dynamics/rigid_body.d.ts:564</li></ul></aside></li></ul></section></section></div>
+<li>Defined in dynamics/rigid_body.d.ts:578</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
diff --git a/static/javascript3d/classes/RoundCone.html b/static/javascript3d/classes/RoundCone.html
index 5c1c99e..0f9a241 100644
--- a/static/javascript3d/classes/RoundCone.html
+++ b/static/javascript3d/classes/RoundCone.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RoundCone</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:542</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:571</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -82,7 +82,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="RoundCone.html" class="tsd-signature-type" data-tsd-kind="Class">RoundCone</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:562</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:591</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="borderRadius" class="tsd-anchor"></a>
@@ -91,27 +91,27 @@ <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadiu
 <div class="tsd-comment tsd-typography"><p>The radius of the cylinder&#39;s rounded edges and vertices.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:555</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:584</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfHeight" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>half<wbr/>Height</span><a href="#halfHeight" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">half<wbr/>Height<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The cone&#39;s half height, along the <code>y</code> axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:551</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:580</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">radius<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The radius of the cone&#39;s basis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:547</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:576</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#RoundCone" class="tsd-signature-type" data-tsd-kind="Enumeration Member">RoundCone</a><span class="tsd-signature-symbol"> = ShapeType.RoundCone</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:543</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:572</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -213,7 +213,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -341,7 +341,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:563</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:592</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/RoundConvexPolyhedron.html b/static/javascript3d/classes/RoundConvexPolyhedron.html
index b3093fe..3360b82 100644
--- a/static/javascript3d/classes/RoundConvexPolyhedron.html
+++ b/static/javascript3d/classes/RoundConvexPolyhedron.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RoundConvexPolyhedron</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:406</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:435</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -85,7 +85,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="RoundConvexPolyhedron.html" class="tsd-signature-type" data-tsd-kind="Class">RoundConvexPolyhedron</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:430</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:459</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="borderRadius" class="tsd-anchor"></a>
@@ -94,27 +94,27 @@ <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadiu
 <div class="tsd-comment tsd-typography"><p>The radius of the convex polyhedron&#39;s rounded edges and vertices.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:419</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:448</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="indices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagOptional">Optional</code> <span>indices</span><a href="#indices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">indices<span class="tsd-signature-symbol">?:</span> <span class="tsd-signature-type">Uint32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The indices of the convex polygon.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:415</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:444</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#RoundConvexPolyhedron" class="tsd-signature-type" data-tsd-kind="Enumeration Member">RoundConvexPolyhedron</a><span class="tsd-signature-symbol"> = ShapeType.RoundConvexPolyhedron</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:407</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:436</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The vertices of the convex polygon.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:411</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:440</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -216,7 +216,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -344,7 +344,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:431</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:460</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/RoundCuboid.html b/static/javascript3d/classes/RoundCuboid.html
index 3f70f4a..54fc867 100644
--- a/static/javascript3d/classes/RoundCuboid.html
+++ b/static/javascript3d/classes/RoundCuboid.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RoundCuboid</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:205</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:206</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -86,7 +86,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="RoundCuboid.html" class="tsd-signature-type" data-tsd-kind="Class">RoundCuboid</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:223</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:224</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="borderRadius" class="tsd-anchor"></a>
@@ -95,20 +95,20 @@ <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadiu
 <div class="tsd-comment tsd-typography"><p>The radius of the cuboid&#39;s round border.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:214</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:215</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfExtents" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>half<wbr/>Extents</span><a href="#halfExtents" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">half<wbr/>Extents<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The half extent of the cuboid along each coordinate axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:210</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:211</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#RoundCuboid" class="tsd-signature-type" data-tsd-kind="Enumeration Member">RoundCuboid</a><span class="tsd-signature-symbol"> = ShapeType.RoundCuboid</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:206</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:207</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -210,7 +210,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -338,7 +338,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:224</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:225</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/RoundCylinder.html b/static/javascript3d/classes/RoundCylinder.html
index bda42be..f11c11f 100644
--- a/static/javascript3d/classes/RoundCylinder.html
+++ b/static/javascript3d/classes/RoundCylinder.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RoundCylinder</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:495</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:524</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -82,7 +82,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="RoundCylinder.html" class="tsd-signature-type" data-tsd-kind="Class">RoundCylinder</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:515</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:544</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="borderRadius" class="tsd-anchor"></a>
@@ -91,27 +91,27 @@ <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadiu
 <div class="tsd-comment tsd-typography"><p>The radius of the cylinder&#39;s rounded edges and vertices.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:508</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:537</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="halfHeight" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>half<wbr/>Height</span><a href="#halfHeight" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">half<wbr/>Height<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The cylinder&#39;s half height, along the <code>y</code> axis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:504</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:533</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="radius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>radius</span><a href="#radius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">radius<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
 <div class="tsd-comment tsd-typography"><p>The radius of the cylinder&#39;s basis.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:500</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:529</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#RoundCylinder" class="tsd-signature-type" data-tsd-kind="Enumeration Member">RoundCylinder</a><span class="tsd-signature-symbol"> = ShapeType.RoundCylinder</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:496</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:525</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -213,7 +213,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -341,7 +341,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:516</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:545</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/RoundTriangle.html b/static/javascript3d/classes/RoundTriangle.html
index 5e7607e..e33a160 100644
--- a/static/javascript3d/classes/RoundTriangle.html
+++ b/static/javascript3d/classes/RoundTriangle.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">RoundTriangle</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:298</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:299</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -88,7 +88,7 @@ <h5>borderRadius: <span class="tsd-signature-type">number</span></h5>
 <h4 class="tsd-returns-title">Returns <a href="RoundTriangle.html" class="tsd-signature-type" data-tsd-kind="Class">RoundTriangle</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:326</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:327</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="a" class="tsd-anchor"></a>
@@ -97,14 +97,14 @@ <h3 class="tsd-anchor-link"><span>a</span><a href="#a" aria-label="Permalink" cl
 <div class="tsd-comment tsd-typography"><p>The first point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:303</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:304</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="b" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>b</span><a href="#b" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">b<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:307</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:308</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="borderRadius" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadius" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">border<wbr/>Radius<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
@@ -112,20 +112,20 @@ <h3 class="tsd-anchor-link"><span>border<wbr/>Radius</span><a href="#borderRadiu
 In 3D, this is also equal to half the thickness of the round triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:316</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:317</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="c" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>c</span><a href="#c" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">c<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:311</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:312</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#RoundTriangle" class="tsd-signature-type" data-tsd-kind="Enumeration Member">RoundTriangle</a><span class="tsd-signature-symbol"> = ShapeType.RoundTriangle</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:299</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:300</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -227,7 +227,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -355,7 +355,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:327</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:328</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Segment.html b/static/javascript3d/classes/Segment.html
index 8b1b944..a75851d 100644
--- a/static/javascript3d/classes/Segment.html
+++ b/static/javascript3d/classes/Segment.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Segment</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:250</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:251</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -77,7 +77,7 @@ <h5>b: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-k
 <h4 class="tsd-returns-title">Returns <a href="Segment.html" class="tsd-signature-type" data-tsd-kind="Class">Segment</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:265</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:266</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="a" class="tsd-anchor"></a>
@@ -86,20 +86,20 @@ <h3 class="tsd-anchor-link"><span>a</span><a href="#a" aria-label="Permalink" cl
 <div class="tsd-comment tsd-typography"><p>The first point of the segment.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:255</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:256</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="b" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>b</span><a href="#b" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">b<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the segment.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:259</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:260</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Segment" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Segment</a><span class="tsd-signature-symbol"> = ShapeType.Segment</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:251</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:252</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -201,7 +201,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -329,7 +329,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:266</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:267</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Shape.html b/static/javascript3d/classes/Shape.html
index 0026d0b..a8cc740 100644
--- a/static/javascript3d/classes/Shape.html
+++ b/static/javascript3d/classes/Shape.html
@@ -29,6 +29,7 @@ <h4>Hierarchy</h4>
 <li><a href="Triangle.html" class="tsd-signature-type" data-tsd-kind="Class">Triangle</a></li>
 <li><a href="RoundTriangle.html" class="tsd-signature-type" data-tsd-kind="Class">RoundTriangle</a></li>
 <li><a href="Polyline.html" class="tsd-signature-type" data-tsd-kind="Class">Polyline</a></li>
+<li><a href="Voxels.html" class="tsd-signature-type" data-tsd-kind="Class">Voxels</a></li>
 <li><a href="TriMesh.html" class="tsd-signature-type" data-tsd-kind="Class">TriMesh</a></li>
 <li><a href="ConvexPolyhedron.html" class="tsd-signature-type" data-tsd-kind="Class">ConvexPolyhedron</a></li>
 <li><a href="RoundConvexPolyhedron.html" class="tsd-signature-type" data-tsd-kind="Class">RoundConvexPolyhedron</a></li>
@@ -184,7 +185,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
diff --git a/static/javascript3d/classes/ShapeColliderTOI.html b/static/javascript3d/classes/ShapeColliderTOI.html
deleted file mode 100644
index 484838a..0000000
--- a/static/javascript3d/classes/ShapeColliderTOI.html
+++ /dev/null
@@ -1,183 +0,0 @@
-<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>ShapeColliderTOI | @dimforge/rapier3d</title><meta name="description" content="Documentation for @dimforge/rapier3d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
-<div class="tsd-toolbar-contents container">
-<div class="table-cell" id="tsd-search" data-base="..">
-<div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M15.7824 13.833L12.6666 10.7177C12.5259 10.5771 12.3353 10.499 12.1353 10.499H11.6259C12.4884 9.39596 13.001 8.00859 13.001 6.49937C13.001 2.90909 10.0914 0 6.50048 0C2.90959 0 0 2.90909 0 6.49937C0 10.0896 2.90959 12.9987 6.50048 12.9987C8.00996 12.9987 9.39756 12.4863 10.5008 11.6239V12.1332C10.5008 12.3332 10.5789 12.5238 10.7195 12.6644L13.8354 15.7797C14.1292 16.0734 14.6042 16.0734 14.8948 15.7797L15.7793 14.8954C16.0731 14.6017 16.0731 14.1267 15.7824 13.833ZM6.50048 10.499C4.29094 10.499 2.50018 8.71165 2.50018 6.49937C2.50018 4.29021 4.28781 2.49976 6.50048 2.49976C8.71001 2.49976 10.5008 4.28708 10.5008 6.49937C10.5008 8.70852 8.71314 10.499 6.50048 10.499Z" fill="var(--color-text)"></path></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div>
-<div class="field">
-<div id="tsd-toolbar-links"></div></div>
-<ul class="results">
-<li class="state loading">Preparing search index...</li>
-<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier3d</a></div>
-<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
-<div class="container container-main">
-<div class="col-8 col-content">
-<div class="tsd-page-title">
-<ul class="tsd-breadcrumb">
-<li><a href="../index.html">@dimforge/rapier3d</a></li>
-<li><a href="ShapeColliderTOI.html">ShapeColliderTOI</a></li></ul>
-<h1>Class ShapeColliderTOI</h1></div>
-<section class="tsd-panel tsd-comment">
-<div class="tsd-comment tsd-typography"><p>The intersection between a ray and a collider.</p>
-</div></section>
-<section class="tsd-panel tsd-hierarchy">
-<h4>Hierarchy</h4>
-<ul class="tsd-hierarchy">
-<li><a href="ShapeTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeTOI</a>
-<ul class="tsd-hierarchy">
-<li><span class="target">ShapeColliderTOI</span></li></ul></li></ul></section><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:39</li></ul></aside>
-<section class="tsd-panel-group tsd-index-group">
-<section class="tsd-panel tsd-index-panel">
-<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
-<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
-<div class="tsd-accordion-details">
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Constructors</h3>
-<div class="tsd-index-list"><a href="ShapeColliderTOI.html#constructor" class="tsd-index-link tsd-kind-constructor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#4D7FFF" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-512-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-512-text"></path></svg><span>constructor</span></a>
-</div></section>
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Properties</h3>
-<div class="tsd-index-list"><a href="ShapeColliderTOI.html#collider" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>collider</span></a>
-<a href="ShapeColliderTOI.html#normal1" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>normal1</span></a>
-<a href="ShapeColliderTOI.html#normal2" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>normal2</span></a>
-<a href="ShapeColliderTOI.html#toi" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>toi</span></a>
-<a href="ShapeColliderTOI.html#witness1" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>witness1</span></a>
-<a href="ShapeColliderTOI.html#witness2" class="tsd-index-link tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>witness2</span></a>
-</div></section>
-<section class="tsd-index-section">
-<h3 class="tsd-index-heading">Methods</h3>
-<div class="tsd-index-list"><a href="ShapeColliderTOI.html#fromRaw" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4DB8" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-2048-path"></rect><path d="M9.162 16V7.24H10.578L11.514 10.072C11.602 10.328 11.674 10.584 11.73 10.84C11.794 11.088 11.842 11.28 11.874 11.416C11.906 11.28 11.954 11.088 12.018 10.84C12.082 10.584 12.154 10.324 12.234 10.06L13.122 7.24H14.538V16H13.482V12.82C13.482 12.468 13.49 12.068 13.506 11.62C13.53 11.172 13.558 10.716 13.59 10.252C13.622 9.78 13.654 9.332 13.686 8.908C13.726 8.476 13.762 8.1 13.794 7.78L12.366 12.16H11.334L9.894 7.78C9.934 8.092 9.97 8.456 10.002 8.872C10.042 9.28 10.078 9.716 10.11 10.18C10.142 10.636 10.166 11.092 10.182 11.548C10.206 12.004 10.218 12.428 10.218 12.82V16H9.162Z" fill="var(--color-text)" id="icon-2048-text"></path></svg><span>from<wbr/>Raw</span></a>
-</div></section></div></details></section></section>
-<section class="tsd-panel-group tsd-member-group">
-<h2>Constructors</h2>
-<section class="tsd-panel tsd-member tsd-kind-constructor tsd-parent-kind-class"><a id="constructor" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>constructor</span><a href="#constructor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><path stroke="none" d="M0 0h24v24H0z" fill="none" id="icon-anchor-a"></path><path d="M10 14a3.5 3.5 0 0 0 5 0l4 -4a3.5 3.5 0 0 0 -5 -5l-.5 .5" id="icon-anchor-b"></path><path d="M14 10a3.5 3.5 0 0 0 -5 0l-4 4a3.5 3.5 0 0 0 5 5l.5 -.5" id="icon-anchor-c"></path></svg></a></h3>
-<ul class="tsd-signatures tsd-kind-constructor tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="constructor.new_ShapeColliderTOI">new <wbr/>Shape<wbr/>ColliderTOI<span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a>, toi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, witness1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, witness2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, normal1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, normal2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeColliderTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeColliderTOI</a><a href="#constructor.new_ShapeColliderTOI" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
-<li class="tsd-description">
-<div class="tsd-parameters">
-<h4 class="tsd-parameters-title">Parameters</h4>
-<ul class="tsd-parameter-list">
-<li>
-<h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li>
-<li>
-<h5>toi: <span class="tsd-signature-type">number</span></h5></li>
-<li>
-<h5>witness1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
-<li>
-<h5>witness2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
-<li>
-<h5>normal1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
-<li>
-<h5>normal2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
-<h4 class="tsd-returns-title">Returns <a href="ShapeColliderTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeColliderTOI</a></h4><aside class="tsd-sources">
-<p>Overrides <a href="ShapeTOI.html">ShapeTOI</a>.<a href="ShapeTOI.html#constructor">constructor</a></p>
-<ul>
-<li>Defined in geometry/toi.d.ts:44</li></ul></aside></li></ul></section></section>
-<section class="tsd-panel-group tsd-member-group">
-<h2>Properties</h2>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="collider" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>collider</span><a href="#collider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">collider<span class="tsd-signature-symbol">:</span> <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></div>
-<div class="tsd-comment tsd-typography"><p>The handle of the collider hit by the ray.</p>
-</div><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:43</li></ul></aside></section>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><a id="normal1" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>normal1</span><a href="#normal1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">normal1<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
-<div class="tsd-comment tsd-typography"><p>The local-space normal on the first shape, at
-the time of impact.</p>
-</div><aside class="tsd-sources">
-<p>Inherited from <a href="ShapeTOI.html">ShapeTOI</a>.<a href="ShapeTOI.html#normal1">normal1</a></p>
-<ul>
-<li>Defined in geometry/toi.d.ts:27</li></ul></aside></section>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><a id="normal2" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>normal2</span><a href="#normal2" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">normal2<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
-<div class="tsd-comment tsd-typography"><p>The local-space normal on the second shape, at
-the time of impact.</p>
-</div><aside class="tsd-sources">
-<p>Inherited from <a href="ShapeTOI.html">ShapeTOI</a>.<a href="ShapeTOI.html#normal2">normal2</a></p>
-<ul>
-<li>Defined in geometry/toi.d.ts:32</li></ul></aside></section>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class tsd-is-inherited"><a id="toi" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>toi</span><a href="#toi" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<div class="tsd-signature">toi<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">number</span></div>
-<div class="tsd-comment tsd-typography"><p>The time of impact of the two shapes.</p>
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-<p>Inherited from <a href="ShapeTOI.html">ShapeTOI</a>.<a href="ShapeTOI.html#toi">toi</a></p>
-<ul>
-<li>Defined in geometry/toi.d.ts:12</li></ul></aside></section>
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-<div class="tsd-signature">witness1<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
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-the time of impact.</p>
-</div><aside class="tsd-sources">
-<p>Inherited from <a href="ShapeTOI.html">ShapeTOI</a>.<a href="ShapeTOI.html#witness1">witness1</a></p>
-<ul>
-<li>Defined in geometry/toi.d.ts:17</li></ul></aside></section>
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-<div class="tsd-signature">witness2<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
-<div class="tsd-comment tsd-typography"><p>The local-space contact point on the second shape, at
-the time of impact.</p>
-</div><aside class="tsd-sources">
-<p>Inherited from <a href="ShapeTOI.html">ShapeTOI</a>.<a href="ShapeTOI.html#witness2">witness2</a></p>
-<ul>
-<li>Defined in geometry/toi.d.ts:22</li></ul></aside></section></section>
-<section class="tsd-panel-group tsd-member-group">
-<h2>Methods</h2>
-<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="fromRaw" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>from<wbr/>Raw</span><a href="#fromRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
-<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="fromRaw.fromRaw-1">from<wbr/>Raw<span class="tsd-signature-symbol">(</span>colliderSet<span class="tsd-signature-symbol">: </span><a href="ColliderSet.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderSet</a>, raw<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">RawShapeColliderTOI</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeColliderTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeColliderTOI</a><a href="#fromRaw.fromRaw-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
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-<li>
-<h5>raw: <span class="tsd-signature-type">RawShapeColliderTOI</span></h5></li></ul></div>
-<h4 class="tsd-returns-title">Returns <a href="ShapeColliderTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeColliderTOI</a></h4><aside class="tsd-sources">
-<p>Overrides <a href="ShapeTOI.html">ShapeTOI</a>.<a href="ShapeTOI.html#fromRaw">fromRaw</a></p>
-<ul>
-<li>Defined in geometry/toi.d.ts:45</li></ul></aside></li></ul></section></section></div>
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-<details class="tsd-index-accordion" open><summary class="tsd-accordion-summary">
-<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Modules</h3></summary>
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-<ul>
-<li class="tsd-kind-namespace"><a href="../modules/default.html">default</a></li></ul></li></ul></div></details></nav>
-<nav class="tsd-navigation secondary menu-sticky">
-<ul>
-<li class="current tsd-kind-class"><a href="ShapeColliderTOI.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-class)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-128-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-128-text"></path></svg><span>Shape<wbr/>ColliderTOI</span></a>
-<ul>
-<li class="tsd-kind-constructor tsd-parent-kind-class"><a href="ShapeColliderTOI.html#constructor" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-512-path"></use><use href="#icon-512-text"></use></svg>constructor</a></li>
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\ No newline at end of file
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-<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>ShapeTOI | @dimforge/rapier3d</title><meta name="description" content="Documentation for @dimforge/rapier3d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
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-<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
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-<li><a href="../index.html">@dimforge/rapier3d</a></li>
-<li><a href="ShapeTOI.html">ShapeTOI</a></li></ul>
-<h1>Class ShapeTOI</h1></div>
-<section class="tsd-panel tsd-comment">
-<div class="tsd-comment tsd-typography"><p>The intersection between a ray and a collider.</p>
-</div></section>
-<section class="tsd-panel tsd-hierarchy">
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-<ul class="tsd-hierarchy">
-<li><a href="ShapeColliderTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeColliderTOI</a></li></ul></li></ul></section><aside class="tsd-sources">
-<ul>
-<li>Defined in geometry/toi.d.ts:8</li></ul></aside>
-<section class="tsd-panel-group tsd-index-group">
-<section class="tsd-panel tsd-index-panel">
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-<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
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-<section class="tsd-index-section">
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-<ul class="tsd-signatures tsd-kind-constructor tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="constructor.new_ShapeTOI">new <wbr/>ShapeTOI<span class="tsd-signature-symbol">(</span>toi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, witness1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, witness2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, normal1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, normal2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeTOI.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeTOI</a><a href="#constructor.new_ShapeTOI" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
-<li class="tsd-description">
-<div class="tsd-parameters">
-<h4 class="tsd-parameters-title">Parameters</h4>
-<ul class="tsd-parameter-list">
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-<h5>toi: <span class="tsd-signature-type">number</span></h5></li>
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-<li>
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-<ul>
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-<h2>Properties</h2>
-<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="normal1" class="tsd-anchor"></a>
-<h3 class="tsd-anchor-link"><span>normal1</span><a href="#normal1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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-the time of impact.</p>
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-<li>Defined in geometry/toi.d.ts:27</li></ul></aside></section>
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-the time of impact.</p>
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-<li>Defined in geometry/toi.d.ts:32</li></ul></aside></section>
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-<div class="tsd-comment tsd-typography"><p>The time of impact of the two shapes.</p>
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-<li>Defined in geometry/toi.d.ts:12</li></ul></aside></section>
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-<section class="tsd-panel-group tsd-member-group">
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-<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>from<wbr/>Raw</span><a href="#fromRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
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-<li>Defined in geometry/toi.d.ts:34</li></ul></aside></li></ul></section></section></div>
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-<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Modules</h3></summary>
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\ No newline at end of file
diff --git a/static/javascript3d/classes/TriMesh.html b/static/javascript3d/classes/TriMesh.html
index a82c654..da6e9c8 100644
--- a/static/javascript3d/classes/TriMesh.html
+++ b/static/javascript3d/classes/TriMesh.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">TriMesh</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:355</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:384</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -80,7 +80,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> flags: <a href="../enu
 <h4 class="tsd-returns-title">Returns <a href="TriMesh.html" class="tsd-signature-type" data-tsd-kind="Class">TriMesh</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:375</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:404</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="flags" class="tsd-anchor"></a>
@@ -89,27 +89,27 @@ <h3 class="tsd-anchor-link"><span>flags</span><a href="#flags" aria-label="Perma
 <div class="tsd-comment tsd-typography"><p>The triangle mesh flags.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:368</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:397</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="indices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>indices</span><a href="#indices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">indices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Uint32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The indices of the triangles.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:364</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:393</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#TriMesh" class="tsd-signature-type" data-tsd-kind="Enumeration Member">TriMesh</a><span class="tsd-signature-symbol"> = ShapeType.TriMesh</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:356</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:385</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="vertices" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>vertices</span><a href="#vertices" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vertices<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Float32Array</span></div>
 <div class="tsd-comment tsd-typography"><p>The vertices of the triangle mesh.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:360</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:389</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -211,7 +211,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -339,7 +339,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:376</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:405</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Triangle.html b/static/javascript3d/classes/Triangle.html
index cb5d0b7..b5dca0e 100644
--- a/static/javascript3d/classes/Triangle.html
+++ b/static/javascript3d/classes/Triangle.html
@@ -25,7 +25,7 @@ <h4>Hierarchy</h4>
 <ul class="tsd-hierarchy">
 <li><span class="target">Triangle</span></li></ul></li></ul></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:271</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:272</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -82,7 +82,7 @@ <h5>c: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-k
 <h4 class="tsd-returns-title">Returns <a href="Triangle.html" class="tsd-signature-type" data-tsd-kind="Class">Triangle</a></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:292</li></ul></aside></li></ul></section></section>
+<li>Defined in geometry/shape.d.ts:293</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="a" class="tsd-anchor"></a>
@@ -91,27 +91,27 @@ <h3 class="tsd-anchor-link"><span>a</span><a href="#a" aria-label="Permalink" cl
 <div class="tsd-comment tsd-typography"><p>The first point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:276</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:277</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="b" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>b</span><a href="#b" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">b<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:280</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:281</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="c" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>c</span><a href="#c" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">c<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
 <div class="tsd-comment tsd-typography"><p>The second point of the triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:284</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:285</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Triangle" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Triangle</a><span class="tsd-signature-symbol"> = ShapeType.Triangle</span></div><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:272</li></ul></aside></section></section>
+<li>Defined in geometry/shape.d.ts:273</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
@@ -213,7 +213,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
 <p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
@@ -341,7 +341,7 @@ <h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-la
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
 <p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
 <ul>
-<li>Defined in geometry/shape.d.ts:293</li></ul></aside></li></ul></section>
+<li>Defined in geometry/shape.d.ts:294</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
diff --git a/static/javascript3d/classes/Voxels.html b/static/javascript3d/classes/Voxels.html
new file mode 100644
index 0000000..5102f85
--- /dev/null
+++ b/static/javascript3d/classes/Voxels.html
@@ -0,0 +1,418 @@
+<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>Voxels | @dimforge/rapier3d</title><meta name="description" content="Documentation for @dimforge/rapier3d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
+<div class="tsd-toolbar-contents container">
+<div class="table-cell" id="tsd-search" data-base="..">
+<div class="field"><label for="tsd-search-field" class="tsd-widget tsd-toolbar-icon search no-caption"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M15.7824 13.833L12.6666 10.7177C12.5259 10.5771 12.3353 10.499 12.1353 10.499H11.6259C12.4884 9.39596 13.001 8.00859 13.001 6.49937C13.001 2.90909 10.0914 0 6.50048 0C2.90959 0 0 2.90909 0 6.49937C0 10.0896 2.90959 12.9987 6.50048 12.9987C8.00996 12.9987 9.39756 12.4863 10.5008 11.6239V12.1332C10.5008 12.3332 10.5789 12.5238 10.7195 12.6644L13.8354 15.7797C14.1292 16.0734 14.6042 16.0734 14.8948 15.7797L15.7793 14.8954C16.0731 14.6017 16.0731 14.1267 15.7824 13.833ZM6.50048 10.499C4.29094 10.499 2.50018 8.71165 2.50018 6.49937C2.50018 4.29021 4.28781 2.49976 6.50048 2.49976C8.71001 2.49976 10.5008 4.28708 10.5008 6.49937C10.5008 8.70852 8.71314 10.499 6.50048 10.499Z" fill="var(--color-text)"></path></svg></label><input type="text" id="tsd-search-field" aria-label="Search"/></div>
+<div class="field">
+<div id="tsd-toolbar-links"></div></div>
+<ul class="results">
+<li class="state loading">Preparing search index...</li>
+<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier3d</a></div>
+<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
+<div class="container container-main">
+<div class="col-8 col-content">
+<div class="tsd-page-title">
+<ul class="tsd-breadcrumb">
+<li><a href="../index.html">@dimforge/rapier3d</a></li>
+<li><a href="Voxels.html">Voxels</a></li></ul>
+<h1>Class Voxels</h1></div>
+<section class="tsd-panel tsd-comment">
+<div class="tsd-comment tsd-typography"><p>A shape made of voxels.</p>
+</div></section>
+<section class="tsd-panel tsd-hierarchy">
+<h4>Hierarchy</h4>
+<ul class="tsd-hierarchy">
+<li><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a>
+<ul class="tsd-hierarchy">
+<li><span class="target">Voxels</span></li></ul></li></ul></section><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/shape.d.ts:356</li></ul></aside>
+<section class="tsd-panel-group tsd-index-group">
+<section class="tsd-panel tsd-index-panel">
+<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
+<h5 class="tsd-index-heading uppercase" role="button" aria-expanded="false" tabIndex=0><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><path d="M1.5 5.50969L8 11.6609L14.5 5.50969L12.5466 3.66086L8 7.96494L3.45341 3.66086L1.5 5.50969Z" fill="var(--color-text)"></path></svg> Index</h5></summary>
+<div class="tsd-accordion-details">
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Constructors</h3>
+<div class="tsd-index-list"><a href="Voxels.html#constructor" class="tsd-index-link tsd-kind-constructor tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#4D7FFF" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-512-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-512-text"></path></svg><span>constructor</span></a>
+</div></section>
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Properties</h3>
+<div class="tsd-index-list"><a href="Voxels.html#data" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>data</span></a>
+<a href="Voxels.html#type" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>type</span></a>
+<a href="Voxels.html#voxelSize" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>voxel<wbr/>Size</span></a>
+</div></section>
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Methods</h3>
+<div class="tsd-index-list"><a href="Voxels.html#castRay" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF4DB8" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-2048-path"></rect><path d="M9.162 16V7.24H10.578L11.514 10.072C11.602 10.328 11.674 10.584 11.73 10.84C11.794 11.088 11.842 11.28 11.874 11.416C11.906 11.28 11.954 11.088 12.018 10.84C12.082 10.584 12.154 10.324 12.234 10.06L13.122 7.24H14.538V16H13.482V12.82C13.482 12.468 13.49 12.068 13.506 11.62C13.53 11.172 13.558 10.716 13.59 10.252C13.622 9.78 13.654 9.332 13.686 8.908C13.726 8.476 13.762 8.1 13.794 7.78L12.366 12.16H11.334L9.894 7.78C9.934 8.092 9.97 8.456 10.002 8.872C10.042 9.28 10.078 9.716 10.11 10.18C10.142 10.636 10.166 11.092 10.182 11.548C10.206 12.004 10.218 12.428 10.218 12.82V16H9.162Z" fill="var(--color-text)" id="icon-2048-text"></path></svg><span>cast<wbr/>Ray</span></a>
+<a href="Voxels.html#castRayAndGetNormal" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span></a>
+<a href="Voxels.html#castShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>cast<wbr/>Shape</span></a>
+<a href="Voxels.html#contactShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contact<wbr/>Shape</span></a>
+<a href="Voxels.html#containsPoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>contains<wbr/>Point</span></a>
+<a href="Voxels.html#intersectsRay" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>intersects<wbr/>Ray</span></a>
+<a href="Voxels.html#intersectsShape" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>intersects<wbr/>Shape</span></a>
+<a href="Voxels.html#intoRaw" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>into<wbr/>Raw</span></a>
+<a href="Voxels.html#projectPoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>project<wbr/>Point</span></a>
+<a href="Voxels.html#fromRaw" class="tsd-index-link tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>from<wbr/>Raw</span></a>
+</div></section></div></details></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Constructors</h2>
+<section class="tsd-panel tsd-member tsd-kind-constructor tsd-parent-kind-class"><a id="constructor" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>constructor</span><a href="#constructor" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><path stroke="none" d="M0 0h24v24H0z" fill="none" id="icon-anchor-a"></path><path d="M10 14a3.5 3.5 0 0 0 5 0l4 -4a3.5 3.5 0 0 0 -5 -5l-.5 .5" id="icon-anchor-b"></path><path d="M14 10a3.5 3.5 0 0 0 -5 0l-4 4a3.5 3.5 0 0 0 5 5l.5 -.5" id="icon-anchor-c"></path></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-constructor tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="constructor.new_Voxels">new <wbr/>Voxels<span class="tsd-signature-symbol">(</span>data<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span>, voxelSize<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="Voxels.html" class="tsd-signature-type" data-tsd-kind="Class">Voxels</a><a href="#constructor.new_Voxels" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Creates a new shape made of voxels.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>data: <span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span></h5>
+<div class="tsd-comment tsd-typography"><p>Defines the set of voxels. If this is a <code>Int32Array</code> then
+              each voxel is defined from its (signed) grid coordinates,
+              with 3 (resp 2) contiguous integers per voxel in 3D (resp 2D).
+              If this is a <code>Float32Array</code>, each voxel will be such that
+              they contain at least one point from this array (where each
+              point is defined from 3 (resp 2) contiguous numbers per point
+              in 3D (resp 2D).</p>
+</div></li>
+<li>
+<h5>voxelSize: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The size of each voxel.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="Voxels.html" class="tsd-signature-type" data-tsd-kind="Class">Voxels</a></h4><aside class="tsd-sources">
+<p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#constructor">constructor</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:378</li></ul></aside></li></ul></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Properties</h2>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="data" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>data</span><a href="#data" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">data<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Int32Array</span><span class="tsd-signature-symbol"> | </span><span class="tsd-signature-type">Float32Array</span></div>
+<div class="tsd-comment tsd-typography"><p>The points or grid coordinates used to initialize the voxels.</p>
+</div><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/shape.d.ts:361</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="type" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagReadonly">Readonly</code> <span>type</span><a href="#type" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">type<span class="tsd-signature-symbol">:</span> <a href="../enums/ShapeType.html#Voxels" class="tsd-signature-type" data-tsd-kind="Enumeration Member">Voxels</a><span class="tsd-signature-symbol"> = ShapeType.Voxels</span></div><aside class="tsd-sources">
+<p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#type">type</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:357</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="voxelSize" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>voxel<wbr/>Size</span><a href="#voxelSize" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">voxel<wbr/>Size<span class="tsd-signature-symbol">:</span> <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></div>
+<div class="tsd-comment tsd-typography"><p>The dimensions of each voxel.</p>
+</div><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/shape.d.ts:365</li></ul></aside></section></section>
+<section class="tsd-panel-group tsd-member-group">
+<h2>Methods</h2>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRay" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>cast<wbr/>Ray</span><a href="#castRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="castRay.castRay-1">cast<wbr/>Ray<span class="tsd-signature-symbol">(</span>ray<span class="tsd-signature-symbol">: </span><a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a>, shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, maxToi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, solid<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><a href="#castRay.castRay-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ray: <a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a></h5></li>
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li>
+<li>
+<h5>maxToi: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>solid: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castRay">castRay</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:64</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castRayAndGetNormal" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span><a href="#castRayAndGetNormal" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="castRayAndGetNormal.castRayAndGetNormal-1">cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal<span class="tsd-signature-symbol">(</span>ray<span class="tsd-signature-symbol">: </span><a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a>, shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, maxToi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, solid<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="RayIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayIntersection</a><a href="#castRayAndGetNormal.castRayAndGetNormal-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ray: <a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a></h5></li>
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li>
+<li>
+<h5>maxToi: <span class="tsd-signature-type">number</span></h5></li>
+<li>
+<h5>solid: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="RayIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayIntersection</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castRayAndGetNormal">castRayAndGetNormal</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:65</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="castShape" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>cast<wbr/>Shape</span><a href="#castShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="castShape.castShape-1">cast<wbr/>Shape<span class="tsd-signature-symbol">(</span>shapePos1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, shapeVel1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shape2<span class="tsd-signature-symbol">: </span><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a>, shapePos2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, shapeVel2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, targetDistance<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, maxToi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, stopAtPenetration<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a><a href="#castShape.castShape-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Computes the time of impact between two moving shapes.</p>
+
+<h3>Returns</h3><p>If the two moving shapes collider at some point along their trajectories, this returns the
+ time at which the two shape collider as well as the contact information during the impact. Returns
+ <code>null</code>if the two shapes never collide along their paths.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The initial position of this sahpe.</p>
+</div></li>
+<li>
+<h5>shapeRot1: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of this shape.</p>
+</div></li>
+<li>
+<h5>shapeVel1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The velocity of this shape.</p>
+</div></li>
+<li>
+<h5>shape2: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></h5>
+<div class="tsd-comment tsd-typography"><p>The second moving shape.</p>
+</div></li>
+<li>
+<h5>shapePos2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The initial position of the second shape.</p>
+</div></li>
+<li>
+<h5>shapeRot2: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of the second shape.</p>
+</div></li>
+<li>
+<h5>shapeVel2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The velocity of the second shape.</p>
+</div></li>
+<li>
+<h5>targetDistance: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>− If the shape moves closer to this distance from a collider, a hit
+                        will be returned.</p>
+</div></li>
+<li>
+<h5>maxToi: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The maximum time when the impact can happen.</p>
+</div></li>
+<li>
+<h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
+<div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
+  the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
+  that it’s on a path to exit that penetration state.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="ShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeCastHit</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#castShape">castShape</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:37</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="contactShape" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>contact<wbr/>Shape</span><a href="#contactShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="contactShape.contactShape-1">contact<wbr/>Shape<span class="tsd-signature-symbol">(</span>shapePos1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, shape2<span class="tsd-signature-symbol">: </span><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a>, shapePos2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, prediction<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="ShapeContact.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeContact</a><a href="#contactShape.contactShape-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Computes one pair of contact points between two shapes.</p>
+
+<h3>Returns</h3><p><code>null</code> if the shapes are separated by a distance greater than prediction, otherwise contact details. The result is given in world-space.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The initial position of this sahpe.</p>
+</div></li>
+<li>
+<h5>shapeRot1: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of this shape.</p>
+</div></li>
+<li>
+<h5>shape2: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></h5>
+<div class="tsd-comment tsd-typography"><p>The second shape.</p>
+</div></li>
+<li>
+<h5>shapePos2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The initial position of the second shape.</p>
+</div></li>
+<li>
+<h5>shapeRot2: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of the second shape.</p>
+</div></li>
+<li>
+<h5>prediction: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The prediction value, if the shapes are separated by a distance greater than this value, test will fail.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="ShapeContact.html" class="tsd-signature-type" data-tsd-kind="Class">ShapeContact</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#contactShape">contactShape</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:60</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="containsPoint" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>contains<wbr/>Point</span><a href="#containsPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="containsPoint.containsPoint-1">contains<wbr/>Point<span class="tsd-signature-symbol">(</span>shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, point<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><a href="#containsPoint.containsPoint-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li>
+<li>
+<h5>point: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#containsPoint">containsPoint</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:61</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="intersectsRay" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>intersects<wbr/>Ray</span><a href="#intersectsRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="intersectsRay.intersectsRay-1">intersects<wbr/>Ray<span class="tsd-signature-symbol">(</span>ray<span class="tsd-signature-symbol">: </span><a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a>, shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, maxToi<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><a href="#intersectsRay.intersectsRay-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>ray: <a href="Ray.html" class="tsd-signature-type" data-tsd-kind="Class">Ray</a></h5></li>
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li>
+<li>
+<h5>maxToi: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#intersectsRay">intersectsRay</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:63</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="intersectsShape" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>intersects<wbr/>Shape</span><a href="#intersectsShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="intersectsShape.intersectsShape-1">intersects<wbr/>Shape<span class="tsd-signature-symbol">(</span>shapePos1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot1<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, shape2<span class="tsd-signature-symbol">: </span><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a>, shapePos2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot2<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><a href="#intersectsShape.intersectsShape-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Tests if this shape intersects another shape.</p>
+
+<h3>Returns</h3><p><code>true</code> if the two shapes intersect, <code>false</code> if they don’t.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos1: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The position of this shape.</p>
+</div></li>
+<li>
+<h5>shapeRot1: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of this shape.</p>
+</div></li>
+<li>
+<h5>shape2: <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></h5>
+<div class="tsd-comment tsd-typography"><p>The second shape to test.</p>
+</div></li>
+<li>
+<h5>shapePos2: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5>
+<div class="tsd-comment tsd-typography"><p>The position of the second shape.</p>
+</div></li>
+<li>
+<h5>shapeRot2: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5>
+<div class="tsd-comment tsd-typography"><p>The rotation of the second shape.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#intersectsShape">intersectsShape</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:48</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intoRaw" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>into<wbr/>Raw</span><a href="#intoRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="intoRaw.intoRaw-1">into<wbr/>Raw<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">RawShape</span><a href="#intoRaw.intoRaw-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">RawShape</span></h4><aside class="tsd-sources">
+<p>Overrides <a href="Shape.html">Shape</a>.<a href="Shape.html#intoRaw">intoRaw</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:379</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="projectPoint" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="projectPoint.projectPoint-1">project<wbr/>Point<span class="tsd-signature-symbol">(</span>shapePos<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, shapeRot<span class="tsd-signature-symbol">: </span><a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a>, point<span class="tsd-signature-symbol">: </span><a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a>, solid<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="PointProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointProjection</a><a href="#projectPoint.projectPoint-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>shapePos: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>shapeRot: <a href="../interfaces/Rotation.html" class="tsd-signature-type" data-tsd-kind="Interface">Rotation</a></h5></li>
+<li>
+<h5>point: <a href="../interfaces/Vector.html" class="tsd-signature-type" data-tsd-kind="Interface">Vector</a></h5></li>
+<li>
+<h5>solid: <span class="tsd-signature-type">boolean</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="PointProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointProjection</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#projectPoint">projectPoint</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:62</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a id="fromRaw" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>from<wbr/>Raw</span><a href="#fromRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class tsd-is-inherited">
+<li class="tsd-signature tsd-anchor-link" id="fromRaw.fromRaw-1">from<wbr/>Raw<span class="tsd-signature-symbol">(</span>rawSet<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">RawColliderSet</span>, handle<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a><a href="#fromRaw.fromRaw-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>instant mode without cache</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>rawSet: <span class="tsd-signature-type">RawColliderSet</span></h5></li>
+<li>
+<h5>handle: <span class="tsd-signature-type">number</span></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="Shape.html" class="tsd-signature-type" data-tsd-kind="Class">Shape</a></h4><aside class="tsd-sources">
+<p>Inherited from <a href="Shape.html">Shape</a>.<a href="Shape.html#fromRaw">fromRaw</a></p>
+<ul>
+<li>Defined in geometry/shape.d.ts:17</li></ul></aside></li></ul></section></section></div>
+<div class="col-4 col-menu menu-sticky-wrap menu-highlight">
+<div class="tsd-navigation settings">
+<details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
+<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Settings</h3></summary>
+<div class="tsd-accordion-details">
+<div class="tsd-filter-visibility">
+<h4 class="uppercase">Member Visibility</h4><form>
+<ul id="tsd-filter-options">
+<li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-protected" name="protected"/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Protected</span></label></li>
+<li class="tsd-filter-item"><label class="tsd-filter-input"><input type="checkbox" id="tsd-filter-private" name="private"/><svg width="32" height="32" viewBox="0 0 32 32" aria-hidden="true"><rect class="tsd-checkbox-background" width="30" height="30" x="1" y="1" rx="6" fill="none"></rect><path class="tsd-checkbox-checkmark" d="M8.35422 16.8214L13.2143 21.75L24.6458 10.25" stroke="none" stroke-width="3.5" stroke-linejoin="round" fill="none"></path></svg><span>Private</span></label></li>
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+<div class="tsd-theme-toggle">
+<h4 class="uppercase">Theme</h4><select id="theme"><option value="os">OS</option><option value="light">Light</option><option value="dark">Dark</option></select></div></div></details></div>
+<nav class="tsd-navigation primary">
+<details class="tsd-index-accordion" open><summary class="tsd-accordion-summary">
+<h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.93896 8.531L12 15.591L19.061 8.531L16.939 6.409L12 11.349L7.06098 6.409L4.93896 8.531Z" fill="var(--color-text)"></path></svg> Modules</h3></summary>
+<div class="tsd-accordion-details">
+<ul>
+<li><a href="../index.html">@dimforge/rapier3d</a>
+<ul>
+<li class="tsd-kind-namespace"><a href="../modules/default.html">default</a></li></ul></li></ul></div></details></nav>
+<nav class="tsd-navigation secondary menu-sticky">
+<ul>
+<li class="current tsd-kind-class"><a href="Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-class)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-128-path"></rect><path d="M11.898 16.1201C11.098 16.1201 10.466 15.8961 10.002 15.4481C9.53803 15.0001 9.30603 14.3841 9.30603 13.6001V9.64012C9.30603 8.85612 9.53803 8.24012 10.002 7.79212C10.466 7.34412 11.098 7.12012 11.898 7.12012C12.682 7.12012 13.306 7.34812 13.77 7.80412C14.234 8.25212 14.466 8.86412 14.466 9.64012H13.386C13.386 9.14412 13.254 8.76412 12.99 8.50012C12.734 8.22812 12.37 8.09212 11.898 8.09212C11.426 8.09212 11.054 8.22412 10.782 8.48812C10.518 8.75212 10.386 9.13212 10.386 9.62812V13.6001C10.386 14.0961 10.518 14.4801 10.782 14.7521C11.054 15.0161 11.426 15.1481 11.898 15.1481C12.37 15.1481 12.734 15.0161 12.99 14.7521C13.254 14.4801 13.386 14.0961 13.386 13.6001H14.466C14.466 14.3761 14.234 14.9921 13.77 15.4481C13.306 15.8961 12.682 16.1201 11.898 16.1201Z" fill="var(--color-text)" id="icon-128-text"></path></svg><span>Voxels</span></a>
+<ul>
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+<li class="tsd-kind-property tsd-parent-kind-class"><a href="Voxels.html#data" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>data</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class"><a href="Voxels.html#type" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>type</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class"><a href="Voxels.html#voxelSize" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>voxel<wbr/>Size</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#castRay" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>cast<wbr/>Ray</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#castRayAndGetNormal" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#castShape" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>cast<wbr/>Shape</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#contactShape" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>contact<wbr/>Shape</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#containsPoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>contains<wbr/>Point</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#intersectsRay" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>intersects<wbr/>Ray</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#intersectsShape" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>intersects<wbr/>Shape</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="Voxels.html#intoRaw" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>into<wbr/>Raw</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#projectPoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>project<wbr/>Point</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class tsd-is-inherited"><a href="Voxels.html#fromRaw" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>from<wbr/>Raw</a></li></ul></li></ul></nav></div></div>
+<div class="container tsd-generator">
+<p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
+<div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript3d/classes/World.html b/static/javascript3d/classes/World.html
index b30de3c..8d4e98f 100644
--- a/static/javascript3d/classes/World.html
+++ b/static/javascript3d/classes/World.html
@@ -50,6 +50,7 @@ <h3 class="tsd-index-heading">Properties</h3>
 <a href="World.html#multibodyJoints" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>multibody<wbr/>Joints</span></a>
 <a href="World.html#narrowPhase" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>narrow<wbr/>Phase</span></a>
 <a href="World.html#physicsPipeline" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>physics<wbr/>Pipeline</span></a>
+<a href="World.html#pidControllers" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>pid<wbr/>Controllers</span></a>
 <a href="World.html#queryPipeline" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>query<wbr/>Pipeline</span></a>
 <a href="World.html#serializationPipeline" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>serialization<wbr/>Pipeline</span></a>
 <a href="World.html#vehicleControllers" class="tsd-index-link tsd-kind-property tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>vehicle<wbr/>Controllers</span></a>
@@ -74,6 +75,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="World.html#createCollider" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Collider</span></a>
 <a href="World.html#createImpulseJoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Impulse<wbr/>Joint</span></a>
 <a href="World.html#createMultibodyJoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Multibody<wbr/>Joint</span></a>
+<a href="World.html#createPidController" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Pid<wbr/>Controller</span></a>
 <a href="World.html#createRigidBody" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Rigid<wbr/>Body</span></a>
 <a href="World.html#createVehicleController" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>create<wbr/>Vehicle<wbr/>Controller</span></a>
 <a href="World.html#debugRender" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>debug<wbr/>Render</span></a>
@@ -98,6 +100,7 @@ <h3 class="tsd-index-heading">Methods</h3>
 <a href="World.html#removeCollider" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Collider</span></a>
 <a href="World.html#removeImpulseJoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Impulse<wbr/>Joint</span></a>
 <a href="World.html#removeMultibodyJoint" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Multibody<wbr/>Joint</span></a>
+<a href="World.html#removePidController" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Pid<wbr/>Controller</span></a>
 <a href="World.html#removeRigidBody" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Rigid<wbr/>Body</span></a>
 <a href="World.html#removeVehicleController" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>remove<wbr/>Vehicle<wbr/>Controller</span></a>
 <a href="World.html#step" class="tsd-index-link tsd-kind-method tsd-parent-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg><span>step</span></a>
@@ -149,7 +152,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> rawSerializationPipeli
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> rawDebugRenderPipeline: <span class="tsd-signature-type">RawDebugRenderPipeline</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="World.html" class="tsd-signature-type" data-tsd-kind="Class">World</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:43</li></ul></aside></li></ul></section></section>
+<li>Defined in pipeline/world.d.ts:44</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Properties</h2>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="bodies" class="tsd-anchor"></a>
@@ -217,6 +220,11 @@ <h3 class="tsd-anchor-link"><span>physics<wbr/>Pipeline</span><a href="#physicsP
 <div class="tsd-signature">physics<wbr/>Pipeline<span class="tsd-signature-symbol">:</span> <a href="PhysicsPipeline.html" class="tsd-signature-type" data-tsd-kind="Class">PhysicsPipeline</a></div><aside class="tsd-sources">
 <ul>
 <li>Defined in pipeline/world.d.ts:31</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="pidControllers" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>pid<wbr/>Controllers</span><a href="#pidControllers" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">pid<wbr/>Controllers<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Set</span><span class="tsd-signature-symbol">&lt;</span><a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a><span class="tsd-signature-symbol">&gt;</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in pipeline/world.d.ts:35</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-property tsd-parent-kind-class"><a id="queryPipeline" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>query<wbr/>Pipeline</span><a href="#queryPipeline" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">query<wbr/>Pipeline<span class="tsd-signature-symbol">:</span> <a href="QueryPipeline.html" class="tsd-signature-type" data-tsd-kind="Class">QueryPipeline</a></div><aside class="tsd-sources">
@@ -231,7 +239,7 @@ <h3 class="tsd-anchor-link"><span>serialization<wbr/>Pipeline</span><a href="#se
 <h3 class="tsd-anchor-link"><span>vehicle<wbr/>Controllers</span><a href="#vehicleControllers" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <div class="tsd-signature">vehicle<wbr/>Controllers<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">Set</span><span class="tsd-signature-symbol">&lt;</span><a href="DynamicRayCastVehicleController.html" class="tsd-signature-type" data-tsd-kind="Class">DynamicRayCastVehicleController</a><span class="tsd-signature-symbol">&gt;</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:35</li></ul></aside></section></section>
+<li>Defined in pipeline/world.d.ts:36</li></ul></aside></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Accessors</h2>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="lengthUnit" class="tsd-anchor"></a>
@@ -244,7 +252,7 @@ <h3 class="tsd-anchor-link"><span>length<wbr/>Unit</span><a href="#lengthUnit" a
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:107</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:112</li></ul></aside></li>
 <li class="tsd-signature" id="lengthUnit.lengthUnit-2"><span class="tsd-signature-symbol">set</span> lengthUnit<span class="tsd-signature-symbol">(</span>unitsPerMeter<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>The approximate size of most dynamic objects in the scene.</p>
@@ -266,7 +274,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>unitsPerMeter: <span class="tsd-signature-type">number</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:123</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:128</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="numAdditionalFrictionIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>num<wbr/>Additional<wbr/>Friction<wbr/>Iterations</span><a href="#numAdditionalFrictionIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -276,7 +284,7 @@ <h3 class="tsd-anchor-link"><span>num<wbr/>Additional<wbr/>Friction<wbr/>Iterati
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:140</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:145</li></ul></aside></li>
 <li class="tsd-signature" id="numAdditionalFrictionIterations.numAdditionalFrictionIterations-2"><span class="tsd-signature-symbol">set</span> numAdditionalFrictionIterations<span class="tsd-signature-symbol">(</span>niter<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Sets the number of addition friction resolution iteration run during the last solver sub-step (default: <code>4</code>).</p>
@@ -292,7 +300,7 @@ <h5>niter: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:149</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:154</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="numInternalPgsIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>num<wbr/>Internal<wbr/>Pgs<wbr/>Iterations</span><a href="#numInternalPgsIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -302,7 +310,7 @@ <h3 class="tsd-anchor-link"><span>num<wbr/>Internal<wbr/>Pgs<wbr/>Iterations</sp
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:153</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:158</li></ul></aside></li>
 <li class="tsd-signature" id="numInternalPgsIterations.numInternalPgsIterations-2"><span class="tsd-signature-symbol">set</span> numInternalPgsIterations<span class="tsd-signature-symbol">(</span>niter<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Sets the Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: <code>1</code>).</p>
@@ -318,7 +326,7 @@ <h5>niter: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:162</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:167</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="numSolverIterations" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>num<wbr/>Solver<wbr/>Iterations</span><a href="#numSolverIterations" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -328,7 +336,7 @@ <h3 class="tsd-anchor-link"><span>num<wbr/>Solver<wbr/>Iterations</span><a href=
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:127</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:132</li></ul></aside></li>
 <li class="tsd-signature" id="numSolverIterations.numSolverIterations-2"><span class="tsd-signature-symbol">set</span> numSolverIterations<span class="tsd-signature-symbol">(</span>niter<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Sets the number of solver iterations run by the constraints solver for calculating forces (default: <code>4</code>).</p>
@@ -344,7 +352,7 @@ <h5>niter: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:136</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:141</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-accessor tsd-parent-kind-class"><a id="timestep" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>timestep</span><a href="#timestep" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-accessor tsd-parent-kind-class">
@@ -354,7 +362,7 @@ <h3 class="tsd-anchor-link"><span>timestep</span><a href="#timestep" aria-label=
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">number</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:88</li></ul></aside></li>
+<li>Defined in pipeline/world.d.ts:93</li></ul></aside></li>
 <li class="tsd-signature" id="timestep.timestep-2"><span class="tsd-signature-symbol">set</span> timestep<span class="tsd-signature-symbol">(</span>dt<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Sets the new simulation timestep.</p>
@@ -376,7 +384,7 @@ <h5>dt: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:101</li></ul></aside></li></ul></section></section>
+<li>Defined in pipeline/world.d.ts:106</li></ul></aside></li></ul></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Methods</h2>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRay" class="tsd-anchor"></a>
@@ -427,7 +435,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayColliderHit.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:311</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:338</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castRayAndGetNormal" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Ray<wbr/>And<wbr/>Get<wbr/>Normal</span><a href="#castRayAndGetNormal" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -477,7 +485,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RayColliderIntersection.html" class="tsd-signature-type" data-tsd-kind="Class">RayColliderIntersection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:324</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:351</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="castShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>cast<wbr/>Shape</span><a href="#castShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -520,7 +528,7 @@ <h5>maxToi: <span class="tsd-signature-type">number</span></h5>
 <h5>stopAtPenetration: <span class="tsd-signature-type">boolean</span></h5>
 <div class="tsd-comment tsd-typography"><p>If set to <code>false</code>, the linear shape-cast won’t immediately stop if
   the shape is penetrating another shape at its starting point <strong>and</strong> its trajectory is such
-  that it’s on a path to exist that penetration state.</p>
+  that it’s on a path to exit that penetration state.</p>
 </div></li>
 <li>
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> filterFlags: <a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a></h5></li>
@@ -545,7 +553,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ColliderShapeCastHit.html" class="tsd-signature-type" data-tsd-kind="Class">ColliderShapeCastHit</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:399</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:426</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="collidersWithAabbIntersectingAabb" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>colliders<wbr/>With<wbr/>Aabb<wbr/>Intersecting<wbr/>Aabb</span><a href="#collidersWithAabbIntersectingAabb" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -582,7 +590,7 @@ <h5>handle: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Cl
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:419</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:446</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactPair" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Pair</span><a href="#contactPair" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -622,7 +630,7 @@ <h5>flipped: <span class="tsd-signature-type">boolean</span></h5></li></ul></div
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:441</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:468</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="contactPairsWith" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>contact<wbr/>Pairs<wbr/>With</span><a href="#contactPairsWith" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -654,7 +662,7 @@ <h5>collider2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind=
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:426</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:453</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createCharacterController" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Character<wbr/>Controller</span><a href="#createCharacterController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -671,7 +679,7 @@ <h5>offset: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="KinematicCharacterController.html" class="tsd-signature-type" data-tsd-kind="Class">KinematicCharacterController</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:177</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:182</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Collider</span><a href="#createCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -692,7 +700,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> parent: <a href="Rigid
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:204</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:231</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createImpulseJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Impulse<wbr/>Joint</span><a href="#createImpulseJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -721,7 +729,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ImpulseJoint.html" class="tsd-signature-type" data-tsd-kind="Class">ImpulseJoint</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:213</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:240</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createMultibodyJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Multibody<wbr/>Joint</span><a href="#createMultibodyJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -750,7 +758,43 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="MultibodyJoint.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJoint</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:222</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:249</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createPidController" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>create<wbr/>Pid<wbr/>Controller</span><a href="#createPidController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="createPidController.createPidController-1">create<wbr/>Pid<wbr/>Controller<span class="tsd-signature-symbol">(</span>kp<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, ki<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, kd<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span>, axes<span class="tsd-signature-symbol">: </span><a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a><a href="#createPidController.createPidController-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Creates a new PID (Proportional-Integral-Derivative) controller.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>kp: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The Proportional gain applied to the instantaneous linear position errors.
+            This is usually set to a multiple of the inverse of simulation step time
+            (e.g. <code>60</code> if the delta-time is <code>1.0 / 60.0</code>).</p>
+</div></li>
+<li>
+<h5>ki: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The linear gain applied to the Integral part of the PID controller.</p>
+</div></li>
+<li>
+<h5>kd: <span class="tsd-signature-type">number</span></h5>
+<div class="tsd-comment tsd-typography"><p>The Derivative gain applied to the instantaneous linear velocity errors.
+            This is usually set to a value in <code>[0.0, 1.0]</code> where <code>0.0</code> implies no damping
+            (no correction of velocity errors) and <code>1.0</code> implies complete damping (velocity errors
+            are corrected in a single simulation step).</p>
+</div></li>
+<li>
+<h5>axes: <a href="../enums/PidAxesMask.html" class="tsd-signature-type" data-tsd-kind="Enumeration">PidAxesMask</a></h5>
+<div class="tsd-comment tsd-typography"><p>The axes affected by this controller.
+              Only coordinate axes with a bit flags set to <code>true</code> will be taken into
+              account when calculating the errors and corrections.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in pipeline/world.d.ts:204</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Rigid<wbr/>Body</span><a href="#createRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -767,7 +811,7 @@ <h5>body: <a href="RigidBodyDesc.html" class="tsd-signature-type" data-tsd-kind=
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:171</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:176</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="createVehicleController" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>create<wbr/>Vehicle<wbr/>Controller</span><a href="#createVehicleController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -786,17 +830,40 @@ <h5>chassis: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="DynamicRayCastVehicleController.html" class="tsd-signature-type" data-tsd-kind="Class">DynamicRayCastVehicleController</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:191</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:218</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="debugRender" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>debug<wbr/>Render</span><a href="#debugRender" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
-<li class="tsd-signature tsd-anchor-link" id="debugRender.debugRender-1">debug<wbr/>Render<span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="DebugRenderBuffers.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderBuffers</a><a href="#debugRender.debugRender-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-signature tsd-anchor-link" id="debugRender.debugRender-1">debug<wbr/>Render<span class="tsd-signature-symbol">(</span>filterFlags<span class="tsd-signature-symbol">?: </span><a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a>, filterPredicate<span class="tsd-signature-symbol">?: </span><span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol"> =&gt; </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><a href="DebugRenderBuffers.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderBuffers</a><a href="#debugRender.debugRender-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
 <li class="tsd-description">
 <div class="tsd-comment tsd-typography"><p>Computes all the lines (and their colors) needed to render the scene.</p>
 </div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5><code class="tsd-tag ts-flagOptional">Optional</code> filterFlags: <a href="../enums/QueryFilterFlags.html" class="tsd-signature-type" data-tsd-kind="Enumeration">QueryFilterFlags</a></h5>
+<div class="tsd-comment tsd-typography"><p>Flags for excluding whole subsets of colliders from rendering.</p>
+</div></li>
+<li>
+<h5><code class="tsd-tag ts-flagOptional">Optional</code> filterPredicate: <span class="tsd-signature-symbol">(</span><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol"> =&gt; </span><span class="tsd-signature-type">boolean</span><span class="tsd-signature-symbol">)</span></h5>
+<div class="tsd-comment tsd-typography"><p>Any collider for which this closure returns <code>false</code> will be excluded from the
+                         debug rendering.</p>
+</div>
+<ul class="tsd-parameters">
+<li class="tsd-parameter-signature">
+<ul class="tsd-signatures tsd-kind-type-literal">
+<li class="tsd-signature"><span class="tsd-signature-symbol">(</span>collider<span class="tsd-signature-symbol">: </span><a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">boolean</span></li>
+<li class="tsd-description">
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h5></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="DebugRenderBuffers.html" class="tsd-signature-type" data-tsd-kind="Class">DebugRenderBuffers</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:61</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:66</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="forEachActiveRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>for<wbr/>Each<wbr/>Active<wbr/>Rigid<wbr/>Body</span><a href="#forEachActiveRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -827,7 +894,7 @@ <h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Cla
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:298</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:325</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="forEachCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>for<wbr/>Each<wbr/>Collider</span><a href="#forEachCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -853,7 +920,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:282</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:309</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="forEachRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>for<wbr/>Each<wbr/>Rigid<wbr/>Body</span><a href="#forEachRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -879,7 +946,7 @@ <h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Cla
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:288</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:315</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="free" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -891,7 +958,7 @@ <h3 class="tsd-anchor-link"><span>free</span><a href="#free" aria-label="Permali
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:42</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:43</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="getCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>get<wbr/>Collider</span><a href="#getCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -908,7 +975,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:234</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:261</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="getImpulseJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>get<wbr/>Impulse<wbr/>Joint</span><a href="#getImpulseJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -925,7 +992,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="ImpulseJoint.html" class="tsd-signature-type" data-tsd-kind="Class">ImpulseJoint</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:240</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:267</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="getMultibodyJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>get<wbr/>Multibody<wbr/>Joint</span><a href="#getMultibodyJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -942,7 +1009,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="MultibodyJoint.html" class="tsd-signature-type" data-tsd-kind="Class">MultibodyJoint</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:246</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:273</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="getRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>get<wbr/>Rigid<wbr/>Body</span><a href="#getRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -959,7 +1026,7 @@ <h5>handle: <span class="tsd-signature-type">number</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Class">RigidBody</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:228</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:255</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionPair" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersection<wbr/>Pair</span><a href="#intersectionPair" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -980,7 +1047,7 @@ <h5>collider2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind=
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:447</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:474</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionPairsWith" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersection<wbr/>Pairs<wbr/>With</span><a href="#intersectionPairsWith" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1009,7 +1076,7 @@ <h5>collider2: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind=
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:431</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:458</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionWithShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersection<wbr/>With<wbr/>Shape</span><a href="#intersectionWithShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1055,7 +1122,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="Class">Collider</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:348</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:375</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Point</span><a href="#intersectionsWithPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1109,7 +1176,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:379</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:406</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithRay" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Ray</span><a href="#intersectionsWithRay" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1174,7 +1241,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:338</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:365</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="intersectionsWithShape" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>intersections<wbr/>With<wbr/>Shape</span><a href="#intersectionsWithShape" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1235,7 +1302,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:410</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:437</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point</span><a href="#projectPoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1281,7 +1348,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointColliderProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointColliderProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:361</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:388</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="projectPointAndGetFeature" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>project<wbr/>Point<wbr/>And<wbr/>Get<wbr/>Feature</span><a href="#projectPointAndGetFeature" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1319,7 +1386,7 @@ <h5>collider: <a href="Collider.html" class="tsd-signature-type" data-tsd-kind="
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">boolean</span></h4></li></ul></li></ul></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="PointColliderProjection.html" class="tsd-signature-type" data-tsd-kind="Class">PointColliderProjection</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:369</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:396</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="propagateModifiedBodyPositionsToColliders" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>propagate<wbr/>Modified<wbr/>Body<wbr/>Positions<wbr/>To<wbr/>Colliders</span><a href="#propagateModifiedBodyPositionsToColliders" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1332,7 +1399,7 @@ <h3 class="tsd-anchor-link"><span>propagate<wbr/>Modified<wbr/>Body<wbr/>Positio
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:78</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:83</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeCharacterController" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Character<wbr/>Controller</span><a href="#removeCharacterController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1349,7 +1416,7 @@ <h5>controller: <a href="KinematicCharacterController.html" class="tsd-signature
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:183</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:188</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeCollider" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Collider</span><a href="#removeCollider" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1370,7 +1437,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:262</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:289</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeImpulseJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Impulse<wbr/>Joint</span><a href="#removeImpulseJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1391,7 +1458,7 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:269</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:296</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeMultibodyJoint" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Multibody<wbr/>Joint</span><a href="#removeMultibodyJoint" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1412,7 +1479,24 @@ <h5>wakeUp: <span class="tsd-signature-type">boolean</span></h5>
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:276</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:303</li></ul></aside></li></ul></section>
+<section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removePidController" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>remove<wbr/>Pid<wbr/>Controller</span><a href="#removePidController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
+<li class="tsd-signature tsd-anchor-link" id="removePidController.removePidController-1">remove<wbr/>Pid<wbr/>Controller<span class="tsd-signature-symbol">(</span>controller<span class="tsd-signature-symbol">: </span><a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#removePidController.removePidController-1" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></li>
+<li class="tsd-description">
+<div class="tsd-comment tsd-typography"><p>Removes a PID controller from this world.</p>
+</div>
+<div class="tsd-parameters">
+<h4 class="tsd-parameters-title">Parameters</h4>
+<ul class="tsd-parameter-list">
+<li>
+<h5>controller: <a href="PidController.html" class="tsd-signature-type" data-tsd-kind="Class">PidController</a></h5>
+<div class="tsd-comment tsd-typography"><p>The PID controller to remove.</p>
+</div></li></ul></div>
+<h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
+<ul>
+<li>Defined in pipeline/world.d.ts:210</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeRigidBody" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Rigid<wbr/>Body</span><a href="#removeRigidBody" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1431,7 +1515,7 @@ <h5>body: <a href="RigidBody.html" class="tsd-signature-type" data-tsd-kind="Cla
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:255</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:282</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="removeVehicleController" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>remove<wbr/>Vehicle<wbr/>Controller</span><a href="#removeVehicleController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1448,7 +1532,7 @@ <h5>controller: <a href="DynamicRayCastVehicleController.html" class="tsd-signat
 </div></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:197</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:224</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="step" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>step</span><a href="#step" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1466,7 +1550,7 @@ <h5><code class="tsd-tag ts-flagOptional">Optional</code> eventQueue: <a href="E
 <h5><code class="tsd-tag ts-flagOptional">Optional</code> hooks: <a href="../interfaces/PhysicsHooks.html" class="tsd-signature-type" data-tsd-kind="Interface">PhysicsHooks</a></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:70</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:75</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="switchToSmallStepsPgsSolver" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<wbr/>Solver</span><a href="#switchToSmallStepsPgsSolver" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1474,7 +1558,7 @@ <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<
 <li class="tsd-description">
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:164</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:169</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="switchToSmallStepsPgsSolverWithoutWarmstart" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<wbr/>Solver<wbr/>Without<wbr/>Warmstart</span><a href="#switchToSmallStepsPgsSolverWithoutWarmstart" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1482,7 +1566,7 @@ <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Small<wbr/>Steps<wbr/>Pgs<
 <li class="tsd-description">
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:165</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:170</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="switchToStandardPgsSolver" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Standard<wbr/>Pgs<wbr/>Solver</span><a href="#switchToStandardPgsSolver" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1490,7 +1574,7 @@ <h3 class="tsd-anchor-link"><span>switch<wbr/>To<wbr/>Standard<wbr/>Pgs<wbr/>Sol
 <li class="tsd-description">
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:163</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:168</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="takeSnapshot" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>take<wbr/>Snapshot</span><a href="#takeSnapshot" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1502,7 +1586,7 @@ <h3 class="tsd-anchor-link"><span>take<wbr/>Snapshot</span><a href="#takeSnapsho
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">Uint8Array</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:51</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:52</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="updateSceneQueries" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>update<wbr/>Scene<wbr/>Queries</span><a href="#updateSceneQueries" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1513,7 +1597,7 @@ <h3 class="tsd-anchor-link"><span>update<wbr/>Scene<wbr/>Queries</span><a href="
 </div>
 <h4 class="tsd-returns-title">Returns <span class="tsd-signature-type">void</span></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:84</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:89</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="fromRaw" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>from<wbr/>Raw</span><a href="#fromRaw" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1526,7 +1610,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>raw: <span class="tsd-signature-type">RawDeserializedWorld</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="World.html" class="tsd-signature-type" data-tsd-kind="Class">World</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:44</li></ul></aside></li></ul></section>
+<li>Defined in pipeline/world.d.ts:45</li></ul></aside></li></ul></section>
 <section class="tsd-panel tsd-member tsd-kind-method tsd-parent-kind-class"><a id="restoreSnapshot" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><code class="tsd-tag ts-flagStatic">Static</code> <span>restore<wbr/>Snapshot</span><a href="#restoreSnapshot" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
 <ul class="tsd-signatures tsd-kind-method tsd-parent-kind-class">
@@ -1542,7 +1626,7 @@ <h4 class="tsd-parameters-title">Parameters</h4>
 <h5>data: <span class="tsd-signature-type">Uint8Array</span></h5></li></ul></div>
 <h4 class="tsd-returns-title">Returns <a href="World.html" class="tsd-signature-type" data-tsd-kind="Class">World</a></h4><aside class="tsd-sources">
 <ul>
-<li>Defined in pipeline/world.d.ts:57</li></ul></aside></li></ul></section></section></div>
+<li>Defined in pipeline/world.d.ts:58</li></ul></aside></li></ul></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
@@ -1582,6 +1666,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#multibodyJoints" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>multibody<wbr/>Joints</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#narrowPhase" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>narrow<wbr/>Phase</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#physicsPipeline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#pidControllers" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>pid<wbr/>Controllers</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#queryPipeline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>query<wbr/>Pipeline</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#serializationPipeline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>serialization<wbr/>Pipeline</a></li>
 <li class="tsd-kind-property tsd-parent-kind-class"><a href="World.html#vehicleControllers" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>vehicle<wbr/>Controllers</a></li>
@@ -1600,6 +1685,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createCollider" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Collider</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createImpulseJoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Impulse<wbr/>Joint</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createMultibodyJoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Multibody<wbr/>Joint</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createPidController" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createRigidBody" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Rigid<wbr/>Body</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#createVehicleController" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>create<wbr/>Vehicle<wbr/>Controller</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#debugRender" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>debug<wbr/>Render</a></li>
@@ -1624,6 +1710,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeCollider" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Collider</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeImpulseJoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Impulse<wbr/>Joint</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeMultibodyJoint" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Multibody<wbr/>Joint</a></li>
+<li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removePidController" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeRigidBody" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Rigid<wbr/>Body</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#removeVehicleController" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>remove<wbr/>Vehicle<wbr/>Controller</a></li>
 <li class="tsd-kind-method tsd-parent-kind-class"><a href="World.html#step" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-2048-path"></use><use href="#icon-2048-text"></use></svg>step</a></li>
diff --git a/static/javascript3d/enums/HeightFieldFlags.html b/static/javascript3d/enums/HeightFieldFlags.html
index 0ddb830..e6b26b6 100644
--- a/static/javascript3d/enums/HeightFieldFlags.html
+++ b/static/javascript3d/enums/HeightFieldFlags.html
@@ -19,7 +19,7 @@ <h1>Enumeration HeightFieldFlags</h1></div>
 <div class="tsd-comment tsd-typography"><p>Flags controlling the behavior of some operations involving heightfields.</p>
 </div></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:92</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:93</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -41,7 +41,7 @@ <h3 class="tsd-anchor-link"><span>FIX_<wbr/>INTERNAL_<wbr/>EDGES</span><a href="
 points for a given triangle.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:101</li></ul></aside></section></section></div>
+<li>Defined in geometry/shape.d.ts:102</li></ul></aside></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
 <details class="tsd-index-accordion"><summary class="tsd-accordion-summary">
diff --git a/static/javascript3d/enums/JointAxesMask.html b/static/javascript3d/enums/JointAxesMask.html
index 259ad08..b791789 100644
--- a/static/javascript3d/enums/JointAxesMask.html
+++ b/static/javascript3d/enums/JointAxesMask.html
@@ -18,7 +18,7 @@ <h1>Enumeration JointAxesMask</h1></div>
 <section class="tsd-panel tsd-comment">
 <div class="tsd-comment tsd-typography"><p>An enum representing the possible joint axes of a generic joint.
 They can be ORed together, like:
-JointAxesMask.X || JointAxesMask.Y
+JointAxesMask.LinX || JointAxesMask.LinY
 to get a joint that is only free in the X and Y translational (positional) axes.</p>
 <p>Possible free axes are:</p>
 <ul>
@@ -42,9 +42,9 @@ <h3 class="tsd-index-heading">Enumeration Members</h3>
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+<a href="JointAxesMask.html#LinY" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinY</span></a>
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 </div></section></div></details></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Enumeration Members</h2>
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 <div class="tsd-signature">AngZ<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">32</span></div><aside class="tsd-sources">
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+<section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="LinX" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>LinX</span><a href="#LinX" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">LinX<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">1</span></div><aside class="tsd-sources">
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+<section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="LinY" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>LinY</span><a href="#LinY" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">LinY<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">2</span></div><aside class="tsd-sources">
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+<h3 class="tsd-anchor-link"><span>LinZ</span><a href="#LinZ" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">LinZ<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">4</span></div><aside class="tsd-sources">
 <ul>
 <li>Defined in dynamics/impulse_joint.d.ts:51</li></ul></aside></section></section></div>
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+<li>Defined in geometry/collider.d.ts:540</li></ul></aside>
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 <section class="tsd-panel tsd-index-panel">
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new file mode 100644
index 0000000..973522c
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+++ b/static/javascript3d/enums/PidAxesMask.html
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+<!DOCTYPE html><html class="default" lang="en"><head><meta charSet="utf-8"/><meta http-equiv="x-ua-compatible" content="IE=edge"/><title>PidAxesMask | @dimforge/rapier3d</title><meta name="description" content="Documentation for @dimforge/rapier3d"/><meta name="viewport" content="width=device-width, initial-scale=1"/><link rel="stylesheet" href="../assets/style.css"/><link rel="stylesheet" href="../assets/highlight.css"/><script async src="../assets/search.js" id="search-script"></script></head><body><script>document.documentElement.dataset.theme = localStorage.getItem("tsd-theme") || "os"</script><header class="tsd-page-toolbar">
+<div class="tsd-toolbar-contents container">
+<div class="table-cell" id="tsd-search" data-base="..">
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+<div class="field">
+<div id="tsd-toolbar-links"></div></div>
+<ul class="results">
+<li class="state loading">Preparing search index...</li>
+<li class="state failure">The search index is not available</li></ul><a href="../index.html" class="title">@dimforge/rapier3d</a></div>
+<div class="table-cell" id="tsd-widgets"><a href="#" class="tsd-widget tsd-toolbar-icon menu no-caption" data-toggle="menu" aria-label="Menu"><svg width="16" height="16" viewBox="0 0 16 16" fill="none"><rect x="1" y="3" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="7" width="14" height="2" fill="var(--color-text)"></rect><rect x="1" y="11" width="14" height="2" fill="var(--color-text)"></rect></svg></a></div></div></header>
+<div class="container container-main">
+<div class="col-8 col-content">
+<div class="tsd-page-title">
+<ul class="tsd-breadcrumb">
+<li><a href="../index.html">@dimforge/rapier3d</a></li>
+<li><a href="PidAxesMask.html">PidAxesMask</a></li></ul>
+<h1>Enumeration PidAxesMask</h1></div>
+<section class="tsd-panel tsd-comment">
+<div class="tsd-comment tsd-typography"><p>An enum representing the possible joint axes controlled by a PidController.
+They can be ORed together, like:
+PidAxesMask.LinX || PidAxesMask.LinY
+to get a pid controller that only constraints the translational X and Y axes.</p>
+<p>Possible axes are:</p>
+<ul>
+<li><code>X</code>: X translation axis</li>
+<li><code>Y</code>: Y translation axis</li>
+<li><code>Z</code>: Z translation axis</li>
+<li><code>AngX</code>: X angular rotation axis (3D only)</li>
+<li><code>AngY</code>: Y angular rotation axis (3D only)</li>
+<li><code>AngZ</code>: Z angular rotation axis</li>
+</ul>
+</div></section><aside class="tsd-sources">
+<ul>
+<li>Defined in control/pid_controller.d.ts:18</li></ul></aside>
+<section class="tsd-panel-group tsd-index-group">
+<section class="tsd-panel tsd-index-panel">
+<details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
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+<div class="tsd-accordion-details">
+<section class="tsd-index-section">
+<h3 class="tsd-index-heading">Enumeration Members</h3>
+<div class="tsd-index-list"><a href="PidAxesMask.html#All" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="#FF984D" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="12" id="icon-1024-path"></rect><path d="M9.354 16V7.24H12.174C12.99 7.24 13.638 7.476 14.118 7.948C14.606 8.412 14.85 9.036 14.85 9.82C14.85 10.604 14.606 11.232 14.118 11.704C13.638 12.168 12.99 12.4 12.174 12.4H10.434V16H9.354ZM10.434 11.428H12.174C12.646 11.428 13.022 11.284 13.302 10.996C13.59 10.7 13.734 10.308 13.734 9.82C13.734 9.324 13.59 8.932 13.302 8.644C13.022 8.356 12.646 8.212 12.174 8.212H10.434V11.428Z" fill="var(--color-text)" id="icon-1024-text"></path></svg><span>All</span></a>
+<a href="PidAxesMask.html#AllAng" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>All<wbr/>Ang</span></a>
+<a href="PidAxesMask.html#AllLin" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>All<wbr/>Lin</span></a>
+<a href="PidAxesMask.html#AngX" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>AngX</span></a>
+<a href="PidAxesMask.html#AngY" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>AngY</span></a>
+<a href="PidAxesMask.html#AngZ" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>AngZ</span></a>
+<a href="PidAxesMask.html#LinX" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinX</span></a>
+<a href="PidAxesMask.html#LinY" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>LinY</span></a>
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\ No newline at end of file
diff --git a/static/javascript3d/enums/ShapeType.html b/static/javascript3d/enums/ShapeType.html
index ca545fc..3fae432 100644
--- a/static/javascript3d/enums/ShapeType.html
+++ b/static/javascript3d/enums/ShapeType.html
@@ -44,6 +44,7 @@ <h3 class="tsd-index-heading">Enumeration Members</h3>
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 <a href="ShapeType.html#TriMesh" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>Tri<wbr/>Mesh</span></a>
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+<a href="ShapeType.html#Voxels" class="tsd-index-link tsd-kind-enum-member tsd-parent-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg><span>Voxels</span></a>
 </div></section></div></details></section></section>
 <section class="tsd-panel-group tsd-member-group">
 <h2>Enumeration Members</h2>
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 <div class="tsd-signature">Triangle<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">5</span></div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:76</li></ul></aside></section></section></div>
+<li>Defined in geometry/shape.d.ts:76</li></ul></aside></section>
+<section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="Voxels" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>Voxels</span><a href="#Voxels" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>
+<div class="tsd-signature">Voxels<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">18</span></div><aside class="tsd-sources">
+<ul>
+<li>Defined in geometry/shape.d.ts:88</li></ul></aside></section></section></div>
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 <div class="tsd-navigation settings">
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+<li class="tsd-kind-enum-member tsd-parent-kind-enum"><a href="ShapeType.html#Triangle" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>Triangle</a></li>
+<li class="tsd-kind-enum-member tsd-parent-kind-enum"><a href="ShapeType.html#Voxels" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-1024-path"></use><use href="#icon-1024-text"></use></svg>Voxels</a></li></ul></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript3d/enums/TriMeshFlags.html b/static/javascript3d/enums/TriMeshFlags.html
index 5fc11c9..35d31cc 100644
--- a/static/javascript3d/enums/TriMeshFlags.html
+++ b/static/javascript3d/enums/TriMeshFlags.html
@@ -20,7 +20,7 @@ <h1>Enumeration TriMeshFlags</h1></div>
 operations involving triangle meshes.</p>
 </div></section><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:107</li></ul></aside>
+<li>Defined in geometry/shape.d.ts:108</li></ul></aside>
 <section class="tsd-panel-group tsd-index-group">
 <section class="tsd-panel tsd-index-panel">
 <details class="tsd-index-content tsd-index-accordion" open><summary class="tsd-accordion-summary tsd-index-summary">
@@ -43,7 +43,7 @@ <h3 class="tsd-anchor-link"><span>DELETE_<wbr/>BAD_<wbr/>TOPOLOGY_<wbr/>TRIANGLE
 <div class="tsd-comment tsd-typography"><p>If set, any triangle that results in a failing half-hedge topology computation will be deleted.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:111</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:112</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="DELETE_DEGENERATE_TRIANGLES" class="tsd-anchor"></a>
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 the computations.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:132</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:133</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="DELETE_DUPLICATE_TRIANGLES" class="tsd-anchor"></a>
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 the computations.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:141</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:142</li></ul></aside></section>
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-<div class="tsd-signature">FIX_<wbr/>INTERNAL_<wbr/>EDGES<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">152</span></div>
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 <div class="tsd-comment tsd-typography"><p>If set, a special treatment will be applied to contact manifold calculation to eliminate
 or fix contacts normals that could lead to incorrect bumps in physics simulation
 (especially on flat surfaces).</p>
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 <p>/!\ NOT SUPPORTED IN THE 2D VERSION OF RAPIER.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:152</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:153</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="MERGE_DUPLICATE_VERTICES" class="tsd-anchor"></a>
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 <div class="tsd-signature">MERGE_<wbr/>DUPLICATE_<wbr/>VERTICES<span class="tsd-signature-symbol">:</span> <span class="tsd-signature-type">16</span></div>
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 vertex buffer and the index buffer is adjusted accordingly.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:124</li></ul></aside></section>
+<li>Defined in geometry/shape.d.ts:125</li></ul></aside></section>
 <section class="tsd-panel tsd-member tsd-kind-enum-member tsd-parent-kind-enum"><a id="ORIENTED" class="tsd-anchor"></a>
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 <p>The pseudo-normals of its vertices and edges will be computed.</p>
 </div><aside class="tsd-sources">
 <ul>
-<li>Defined in geometry/shape.d.ts:117</li></ul></aside></section></section></div>
+<li>Defined in geometry/shape.d.ts:118</li></ul></aside></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
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diff --git a/static/javascript3d/functions/reserveMemory.html b/static/javascript3d/functions/reserveMemory.html
new file mode 100644
index 0000000..0d2758f
--- /dev/null
+++ b/static/javascript3d/functions/reserveMemory.html
@@ -0,0 +1,157 @@
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+<li><a href="reserveMemory.html">reserveMemory</a></li></ul>
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+<ul class="tsd-signatures tsd-kind-function">
+<li class="tsd-signature tsd-anchor-link" id="reserveMemory">reserve<wbr/>Memory<span class="tsd-signature-symbol">(</span>extraBytesCount<span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">number</span><span class="tsd-signature-symbol">)</span><span class="tsd-signature-symbol">: </span><span class="tsd-signature-type">void</span><a href="#reserveMemory" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><path stroke="none" d="M0 0h24v24H0z" fill="none" id="icon-anchor-a"></path><path d="M10 14a3.5 3.5 0 0 0 5 0l4 -4a3.5 3.5 0 0 0 -5 -5l-.5 .5" id="icon-anchor-b"></path><path d="M14 10a3.5 3.5 0 0 0 -5 0l-4 4a3.5 3.5 0 0 0 5 5l.5 -.5" id="icon-anchor-c"></path></svg></a></li>
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+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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@@ -133,6 +135,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
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@@ -142,7 +145,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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 <li class="tsd-kind-type-alias"><a href="../types/MultibodyJointHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Multibody<wbr/>Joint<wbr/>Handle</a></li>
 <li class="tsd-kind-type-alias"><a href="../types/RigidBodyHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rigid<wbr/>Body<wbr/>Handle</a></li>
-<li class="current tsd-kind-function"><a href="version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
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+<li class="current tsd-kind-function"><a href="version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
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\ No newline at end of file
diff --git a/static/javascript3d/index.html b/static/javascript3d/index.html
index 0361fde..292d48a 100644
--- a/static/javascript3d/index.html
+++ b/static/javascript3d/index.html
@@ -31,6 +31,7 @@ <h3 class="tsd-index-heading">Enumerations</h3>
 <a href="enums/JointType.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Joint<wbr/>Type</span></a>
 <a href="enums/MassPropsMode.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Mass<wbr/>Props<wbr/>Mode</span></a>
 <a href="enums/MotorModel.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Motor<wbr/>Model</span></a>
+<a href="enums/PidAxesMask.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Pid<wbr/>Axes<wbr/>Mask</span></a>
 <a href="enums/QueryFilterFlags.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Query<wbr/>Filter<wbr/>Flags</span></a>
 <a href="enums/RigidBodyType.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Rigid<wbr/>Body<wbr/>Type</span></a>
 <a href="enums/ShapeType.html" class="tsd-index-link tsd-kind-enum"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg><span>Shape<wbr/>Type</span></a>
@@ -71,6 +72,7 @@ <h3 class="tsd-index-heading">Classes</h3>
 <a href="classes/MultibodyJointSet.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Multibody<wbr/>Joint<wbr/>Set</span></a>
 <a href="classes/NarrowPhase.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Narrow<wbr/>Phase</span></a>
 <a href="classes/PhysicsPipeline.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Physics<wbr/>Pipeline</span></a>
+<a href="classes/PidController.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Pid<wbr/>Controller</span></a>
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@@ -112,6 +114,7 @@ <h3 class="tsd-index-heading">Classes</h3>
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 <a href="classes/Vector3.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Vector3</span></a>
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+<a href="classes/Voxels.html" class="tsd-index-link tsd-kind-class"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg><span>Voxels</span></a>
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 <section class="tsd-index-section">
@@ -130,7 +133,8 @@ <h3 class="tsd-index-heading">Type Aliases</h3>
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 <section class="tsd-index-section">
 <h3 class="tsd-index-heading">Functions</h3>
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+<div class="tsd-index-list"><a href="functions/reserveMemory.html" class="tsd-index-link tsd-kind-function"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg><span>reserve<wbr/>Memory</span></a>
+<a href="functions/version.html" class="tsd-index-link tsd-kind-function"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg><span>version</span></a>
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 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
 <div class="tsd-navigation settings">
@@ -165,6 +169,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-enum"><a href="enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
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@@ -202,6 +207,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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@@ -243,6 +249,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
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 <li class="tsd-kind-interface"><a href="interfaces/Rotation.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-256-path"></use><use href="#icon-256-text"></use></svg>Rotation</a></li>
@@ -252,6 +259,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-type-alias"><a href="types/InteractionGroups.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Interaction<wbr/>Groups</a></li>
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+<li class="tsd-kind-function"><a href="functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>reserve<wbr/>Memory</a></li>
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 <div class="container tsd-generator">
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diff --git a/static/javascript3d/modules/default.html b/static/javascript3d/modules/default.html
index b9992a2..1a416e7 100644
--- a/static/javascript3d/modules/default.html
+++ b/static/javascript3d/modules/default.html
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 <a href="default.html#PhysicsHooks" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Physics<wbr/>Hooks</span></a>
 <a href="default.html#PhysicsPipeline" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Physics<wbr/>Pipeline</span></a>
+<a href="default.html#PidAxesMask" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Pid<wbr/>Axes<wbr/>Mask</span></a>
+<a href="default.html#PidController" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Pid<wbr/>Controller</span></a>
 <a href="default.html#PointColliderProjection" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Point<wbr/>Collider<wbr/>Projection</span></a>
 <a href="default.html#PointProjection" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Point<wbr/>Projection</span></a>
 <a href="default.html#Polyline" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Polyline</span></a>
@@ -120,7 +122,9 @@ <h3 class="tsd-index-heading">References</h3>
 <a href="default.html#Vector" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Vector</span></a>
 <a href="default.html#Vector3" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Vector3</span></a>
 <a href="default.html#VectorOps" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Vector<wbr/>Ops</span></a>
+<a href="default.html#Voxels" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>Voxels</span></a>
 <a href="default.html#World" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>World</span></a>
+<a href="default.html#reserveMemory" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>reserve<wbr/>Memory</span></a>
 <a href="default.html#version" class="tsd-index-link tsd-kind-reference tsd-parent-kind-namespace"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg><span>version</span></a>
 </div></section></div></details></section></section>
 <section class="tsd-panel-group tsd-member-group">
@@ -219,6 +223,10 @@ <h3 class="tsd-anchor-link"><span>Narrow<wbr/>Phase</span><a href="#NarrowPhase"
 <h3 class="tsd-anchor-link"><span>Physics<wbr/>Hooks</span><a href="#PhysicsHooks" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../interfaces/PhysicsHooks.html">PhysicsHooks</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PhysicsPipeline" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>Physics<wbr/>Pipeline</span><a href="#PhysicsPipeline" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/PhysicsPipeline.html">PhysicsPipeline</a></section>
+<section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PidAxesMask" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>Pid<wbr/>Axes<wbr/>Mask</span><a href="#PidAxesMask" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../enums/PidAxesMask.html">PidAxesMask</a></section>
+<section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PidController" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>Pid<wbr/>Controller</span><a href="#PidController" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/PidController.html">PidController</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PointColliderProjection" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>Point<wbr/>Collider<wbr/>Projection</span><a href="#PointColliderProjection" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/PointColliderProjection.html">PointColliderProjection</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="PointProjection" class="tsd-anchor"></a>
@@ -317,8 +325,12 @@ <h3 class="tsd-anchor-link"><span>Vector</span><a href="#Vector" aria-label="Per
 <h3 class="tsd-anchor-link"><span>Vector3</span><a href="#Vector3" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/Vector3.html">Vector3</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="VectorOps" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>Vector<wbr/>Ops</span><a href="#VectorOps" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/VectorOps.html">VectorOps</a></section>
+<section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="Voxels" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>Voxels</span><a href="#Voxels" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/Voxels.html">Voxels</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="World" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>World</span><a href="#World" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../classes/World.html">World</a></section>
+<section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="reserveMemory" class="tsd-anchor"></a>
+<h3 class="tsd-anchor-link"><span>reserve<wbr/>Memory</span><a href="#reserveMemory" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../functions/reserveMemory.html">reserveMemory</a></section>
 <section class="tsd-panel tsd-member tsd-kind-reference tsd-parent-kind-namespace"><a id="version" class="tsd-anchor"></a>
 <h3 class="tsd-anchor-link"><span>version</span><a href="#version" aria-label="Permalink" class="tsd-anchor-icon"><svg class="icon icon-tabler icon-tabler-link" viewBox="0 0 24 24" stroke-width="2" stroke="currentColor" fill="none" stroke-linecap="round" stroke-linejoin="round"><use href="#icon-anchor-a"></use><use href="#icon-anchor-b"></use><use href="#icon-anchor-c"></use></svg></a></h3>Re-exports <a href="../functions/version.html">version</a></section></section></div>
 <div class="col-4 col-menu menu-sticky-wrap menu-highlight">
@@ -391,6 +403,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#NarrowPhase" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Narrow<wbr/>Phase</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PhysicsHooks" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Physics<wbr/>Hooks</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PhysicsPipeline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PidAxesMask" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
+<li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PidController" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PointColliderProjection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Point<wbr/>Collider<wbr/>Projection</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#PointProjection" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Point<wbr/>Projection</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#Polyline" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Polyline</a></li>
@@ -440,7 +454,9 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#Vector" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Vector</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#Vector3" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Vector3</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#VectorOps" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Vector<wbr/>Ops</a></li>
+<li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#Voxels" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>Voxels</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#World" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>World</a></li>
+<li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#reserveMemory" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>reserve<wbr/>Memory</a></li>
 <li class="tsd-kind-reference tsd-parent-kind-namespace"><a href="default.html#version" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8388608-path"></use><use href="#icon-8388608-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
diff --git a/static/javascript3d/types/ColliderHandle.html b/static/javascript3d/types/ColliderHandle.html
index 3b668ef..f4e1918 100644
--- a/static/javascript3d/types/ColliderHandle.html
+++ b/static/javascript3d/types/ColliderHandle.html
@@ -53,6 +53,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-enum"><a href="../enums/JointType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Joint<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MassPropsMode.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Mass<wbr/>Props<wbr/>Mode</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MotorModel.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Motor<wbr/>Model</a></li>
+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
 <li class="tsd-kind-enum"><a href="../enums/QueryFilterFlags.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Query<wbr/>Filter<wbr/>Flags</a></li>
 <li class="tsd-kind-enum"><a href="../enums/RigidBodyType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Rigid<wbr/>Body<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/ShapeType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Shape<wbr/>Type</a></li>
@@ -90,6 +91,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/MultibodyJointSet.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Multibody<wbr/>Joint<wbr/>Set</a></li>
 <li class="tsd-kind-class"><a href="../classes/NarrowPhase.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Narrow<wbr/>Phase</a></li>
 <li class="tsd-kind-class"><a href="../classes/PhysicsPipeline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-class"><a href="../classes/PointColliderProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Collider<wbr/>Projection</a></li>
 <li class="tsd-kind-class"><a href="../classes/PointProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Projection</a></li>
 <li class="tsd-kind-class"><a href="../classes/Polyline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Polyline</a></li>
@@ -131,6 +133,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/UnitMultibodyJoint.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Unit<wbr/>Multibody<wbr/>Joint</a></li>
 <li class="tsd-kind-class"><a href="../classes/Vector3.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector3</a></li>
 <li class="tsd-kind-class"><a href="../classes/VectorOps.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector<wbr/>Ops</a></li>
+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
 <li class="tsd-kind-class"><a href="../classes/World.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>World</a></li>
 <li class="tsd-kind-interface"><a href="../interfaces/PhysicsHooks.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-interface)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-256-path"></rect><path d="M9.51 16V15.016H11.298V8.224H9.51V7.24H14.19V8.224H12.402V15.016H14.19V16H9.51Z" fill="var(--color-text)" id="icon-256-text"></path></svg>Physics<wbr/>Hooks</a></li>
 <li class="tsd-kind-interface"><a href="../interfaces/Rotation.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-256-path"></use><use href="#icon-256-text"></use></svg>Rotation</a></li>
@@ -140,7 +143,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-type-alias"><a href="InteractionGroups.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Interaction<wbr/>Groups</a></li>
 <li class="tsd-kind-type-alias"><a href="MultibodyJointHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Multibody<wbr/>Joint<wbr/>Handle</a></li>
 <li class="tsd-kind-type-alias"><a href="RigidBodyHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rigid<wbr/>Body<wbr/>Handle</a></li>
-<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
+<li class="tsd-kind-function"><a href="../functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>reserve<wbr/>Memory</a></li>
+<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript3d/types/ImpulseJointHandle.html b/static/javascript3d/types/ImpulseJointHandle.html
index ce22367..d4849e4 100644
--- a/static/javascript3d/types/ImpulseJointHandle.html
+++ b/static/javascript3d/types/ImpulseJointHandle.html
@@ -53,6 +53,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-enum"><a href="../enums/JointType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Joint<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MassPropsMode.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Mass<wbr/>Props<wbr/>Mode</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MotorModel.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Motor<wbr/>Model</a></li>
+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
 <li class="tsd-kind-enum"><a href="../enums/QueryFilterFlags.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Query<wbr/>Filter<wbr/>Flags</a></li>
 <li class="tsd-kind-enum"><a href="../enums/RigidBodyType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Rigid<wbr/>Body<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/ShapeType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Shape<wbr/>Type</a></li>
@@ -90,6 +91,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/MultibodyJointSet.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Multibody<wbr/>Joint<wbr/>Set</a></li>
 <li class="tsd-kind-class"><a href="../classes/NarrowPhase.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Narrow<wbr/>Phase</a></li>
 <li class="tsd-kind-class"><a href="../classes/PhysicsPipeline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-class"><a href="../classes/PointColliderProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Collider<wbr/>Projection</a></li>
 <li class="tsd-kind-class"><a href="../classes/PointProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Projection</a></li>
 <li class="tsd-kind-class"><a href="../classes/Polyline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Polyline</a></li>
@@ -131,6 +133,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/UnitMultibodyJoint.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Unit<wbr/>Multibody<wbr/>Joint</a></li>
 <li class="tsd-kind-class"><a href="../classes/Vector3.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector3</a></li>
 <li class="tsd-kind-class"><a href="../classes/VectorOps.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector<wbr/>Ops</a></li>
+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
 <li class="tsd-kind-class"><a href="../classes/World.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>World</a></li>
 <li class="tsd-kind-interface"><a href="../interfaces/PhysicsHooks.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-interface)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-256-path"></rect><path d="M9.51 16V15.016H11.298V8.224H9.51V7.24H14.19V8.224H12.402V15.016H14.19V16H9.51Z" fill="var(--color-text)" id="icon-256-text"></path></svg>Physics<wbr/>Hooks</a></li>
 <li class="tsd-kind-interface"><a href="../interfaces/Rotation.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-256-path"></use><use href="#icon-256-text"></use></svg>Rotation</a></li>
@@ -140,7 +143,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-type-alias"><a href="InteractionGroups.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Interaction<wbr/>Groups</a></li>
 <li class="tsd-kind-type-alias"><a href="MultibodyJointHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Multibody<wbr/>Joint<wbr/>Handle</a></li>
 <li class="tsd-kind-type-alias"><a href="RigidBodyHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rigid<wbr/>Body<wbr/>Handle</a></li>
-<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
+<li class="tsd-kind-function"><a href="../functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>reserve<wbr/>Memory</a></li>
+<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript3d/types/InteractionGroups.html b/static/javascript3d/types/InteractionGroups.html
index ced6524..6b13608 100644
--- a/static/javascript3d/types/InteractionGroups.html
+++ b/static/javascript3d/types/InteractionGroups.html
@@ -67,6 +67,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-enum"><a href="../enums/JointType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Joint<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MassPropsMode.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Mass<wbr/>Props<wbr/>Mode</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MotorModel.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Motor<wbr/>Model</a></li>
+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
 <li class="tsd-kind-enum"><a href="../enums/QueryFilterFlags.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Query<wbr/>Filter<wbr/>Flags</a></li>
 <li class="tsd-kind-enum"><a href="../enums/RigidBodyType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Rigid<wbr/>Body<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/ShapeType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Shape<wbr/>Type</a></li>
@@ -104,6 +105,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/MultibodyJointSet.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Multibody<wbr/>Joint<wbr/>Set</a></li>
 <li class="tsd-kind-class"><a href="../classes/NarrowPhase.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Narrow<wbr/>Phase</a></li>
 <li class="tsd-kind-class"><a href="../classes/PhysicsPipeline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Physics<wbr/>Pipeline</a></li>
+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
 <li class="tsd-kind-class"><a href="../classes/PointColliderProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Collider<wbr/>Projection</a></li>
 <li class="tsd-kind-class"><a href="../classes/PointProjection.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Point<wbr/>Projection</a></li>
 <li class="tsd-kind-class"><a href="../classes/Polyline.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Polyline</a></li>
@@ -145,6 +147,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-class"><a href="../classes/UnitMultibodyJoint.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Unit<wbr/>Multibody<wbr/>Joint</a></li>
 <li class="tsd-kind-class"><a href="../classes/Vector3.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector3</a></li>
 <li class="tsd-kind-class"><a href="../classes/VectorOps.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Vector<wbr/>Ops</a></li>
+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
 <li class="tsd-kind-class"><a href="../classes/World.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>World</a></li>
 <li class="tsd-kind-interface"><a href="../interfaces/PhysicsHooks.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-interface)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-256-path"></rect><path d="M9.51 16V15.016H11.298V8.224H9.51V7.24H14.19V8.224H12.402V15.016H14.19V16H9.51Z" fill="var(--color-text)" id="icon-256-text"></path></svg>Physics<wbr/>Hooks</a></li>
 <li class="tsd-kind-interface"><a href="../interfaces/Rotation.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-256-path"></use><use href="#icon-256-text"></use></svg>Rotation</a></li>
@@ -154,7 +157,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="current tsd-kind-type-alias"><a href="InteractionGroups.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Interaction<wbr/>Groups</a></li>
 <li class="tsd-kind-type-alias"><a href="MultibodyJointHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Multibody<wbr/>Joint<wbr/>Handle</a></li>
 <li class="tsd-kind-type-alias"><a href="RigidBodyHandle.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-4194304-path"></use><use href="#icon-4194304-text"></use></svg>Rigid<wbr/>Body<wbr/>Handle</a></li>
-<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
+<li class="tsd-kind-function"><a href="../functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>reserve<wbr/>Memory</a></li>
+<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
 <div class="overlay"></div><script src="../assets/main.js"></script></body></html>
\ No newline at end of file
diff --git a/static/javascript3d/types/MultibodyJointHandle.html b/static/javascript3d/types/MultibodyJointHandle.html
index 4e3a919..6228672 100644
--- a/static/javascript3d/types/MultibodyJointHandle.html
+++ b/static/javascript3d/types/MultibodyJointHandle.html
@@ -53,6 +53,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
 <li class="tsd-kind-enum"><a href="../enums/JointType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Joint<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MassPropsMode.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Mass<wbr/>Props<wbr/>Mode</a></li>
 <li class="tsd-kind-enum"><a href="../enums/MotorModel.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Motor<wbr/>Model</a></li>
+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
 <li class="tsd-kind-enum"><a href="../enums/QueryFilterFlags.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Query<wbr/>Filter<wbr/>Flags</a></li>
 <li class="tsd-kind-enum"><a href="../enums/RigidBodyType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Rigid<wbr/>Body<wbr/>Type</a></li>
 <li class="tsd-kind-enum"><a href="../enums/ShapeType.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Shape<wbr/>Type</a></li>
@@ -90,6 +91,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
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@@ -140,7 +143,8 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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-<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>version</a></li></ul></nav></div></div>
+<li class="tsd-kind-function"><a href="../functions/reserveMemory.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><rect fill="var(--color-icon-background)" stroke="var(--color-ts-function)" stroke-width="1.5" x="1" y="1" width="22" height="22" rx="6" id="icon-64-path"></rect><path d="M9.39 16V7.24H14.55V8.224H10.446V11.128H14.238V12.112H10.47V16H9.39Z" fill="var(--color-text)" id="icon-64-text"></path></svg>reserve<wbr/>Memory</a></li>
+<li class="tsd-kind-function"><a href="../functions/version.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-64-path"></use><use href="#icon-64-text"></use></svg>version</a></li></ul></nav></div></div>
 <div class="container tsd-generator">
 <p>Generated using <a href="https://typedoc.org/" target="_blank">TypeDoc</a></p></div>
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diff --git a/static/javascript3d/types/RigidBodyHandle.html b/static/javascript3d/types/RigidBodyHandle.html
index e3dbad1..c4d42c8 100644
--- a/static/javascript3d/types/RigidBodyHandle.html
+++ b/static/javascript3d/types/RigidBodyHandle.html
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+<li class="tsd-kind-enum"><a href="../enums/PidAxesMask.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-8-path"></use><use href="#icon-8-text"></use></svg>Pid<wbr/>Axes<wbr/>Mask</a></li>
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@@ -90,6 +91,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="../classes/PidController.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Pid<wbr/>Controller</a></li>
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@@ -131,6 +133,7 @@ <h3><svg width="20" height="20" viewBox="0 0 24 24" fill="none"><path d="M4.9389
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+<li class="tsd-kind-class"><a href="../classes/Voxels.html" class="tsd-index-link"><svg class="tsd-kind-icon" width="24" height="24" viewBox="0 0 24 24"><use href="#icon-128-path"></use><use href="#icon-128-text"></use></svg>Voxels</a></li>
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