Merge pull request #777 from isaac-mason/feat/changelog

chore: update rapier.js version bump changeset

Author: isaac-mason

.changeset/lucky-buckets-act.md

@@ -6,12 +6,26 @@ feat: bump @dimforge/rapier3d-compat from v0.15.0 to v0.19.2 (@driescroons)
 
 See the rapier.js changelog for details: https://github.com/dimforge/rapier.js/blob/master/CHANGELOG.md
 
-Notable upstream rapier.js fixes:
+**Notable Improvements:**
+- **Performance:** Significant improvements for scenes with many contact constraints, CCD-enabled bodies, and large voxel maps
+- **Voxel Support:** Sparse storage for voxels allows orders of magnitudes larger maps without hitting 4GB WASM memory limit
+- **New Features:** Added `World.timing*` functions for performance profiling when `World.profilerEnabled = true`
+- **New Features:** Added `World.maxCcdSubsteps` getter/setter for CCD substep configuration
+- **New Features:** Added `Collider.translationWrtParent()` and `Collider.rotationWrtParent()` for collider transforms relative to parent rigid-body
+- **Memory Management:** Added `RAPIER.reserveMemory` to pre-allocate memory for future operations
+
+**Bug Fixes:**
 - Fixed kinematic bodies not waking up when setting velocity
 - Fixed slow-moving kinematic bodies falling asleep
 - Fixed point-projection on voxel shapes
+- Fixed crash when removing colliders in specific order
+- Fixed sensor events not triggering when hitting voxel colliders
+- Fixed infinite loop in `collider.setVoxel`
+- Fixed rollup configuration for proper TypeScript types export
+- Fixed determinism issue on Apple M1 processors
 
 **Breaking Changes:**
 - Removed `numAdditionalFrictionIterations` from IntegrationParameters (legacy PGS solver method)
 - Removed legacy PGS solver methods: `switchToStandardPgsSolver`, `switchToSmallStepsPgsSolver`, `switchToSmallStepsPgsSolverWithoutWarmstart`
-- Renamed `RigidBody.invPrincipalInertiaSqrt` and `.effectiveWorldInvInertiaSqrt` methods to remove the `Sqrt` suffix
+- Renamed `RigidBody.invPrincipalInertiaSqrt` and `.effectiveWorldInvInertiaSqrt` to `invPrincipalInertia` and `effectiveWorldInvInertia` (removed `Sqrt` suffix - now returns actual inverse angular inertia matrix instead of square root)
+- rapier-compat file extensions changed from `.cjs.js`/`.es.js` to `.cjs`/`.mjs` for better NPM compatibility