diff --git a/Cargo.lock b/Cargo.lock
index b3a7262..1a33a78 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -422,9 +422,9 @@ dependencies = [
 
 [[package]]
 name = "downcast-rs"
-version = "2.0.1"
+version = "2.0.2"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "ea8a8b81cacc08888170eef4d13b775126db426d0b348bee9d18c2c1eaf123cf"
+checksum = "117240f60069e65410b3ae1bb213295bd828f707b5bec6596a1afc8793ce0cbc"
 
 [[package]]
 name = "either"
@@ -578,9 +578,9 @@ checksum = "8babf46d4c1c9d92deac9f7be466f76dfc4482b6452fc5024b5e8daf6ffeb3ee"
 
 [[package]]
 name = "glam"
-version = "0.30.5"
+version = "0.30.7"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f2d1aab06663bdce00d6ca5e5ed586ec8d18033a771906c993a1e3755b368d85"
+checksum = "34e4649b62c21fb8c737abe6449192ce96ecd16b5c0d606759fe43831b31bd95"
 
 [[package]]
 name = "globset"
@@ -703,9 +703,9 @@ dependencies = [
 
 [[package]]
 name = "indexmap"
-version = "2.10.0"
+version = "2.11.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "fe4cd85333e22411419a0bcae1297d25e58c9443848b11dc6a86fefe8c78a661"
+checksum = "206a8042aec68fa4a62e8d3f7aa4ceb508177d9324faf261e1959e495b7a1921"
 dependencies = [
  "equivalent",
  "hashbrown 0.15.5",
@@ -776,9 +776,9 @@ checksum = "32a282da65faaf38286cf3be983213fcf1d2e2a58700e808f83f4ea9a4804bc0"
 
 [[package]]
 name = "nalgebra"
-version = "0.34.0"
+version = "0.34.1"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "9cd59afb6639828b33677758314a4a1a745c15c02bc597095b851c8fd915cf49"
+checksum = "c4d5b3eff5cd580f93da45e64715e8c20a3996342f1e466599cf7a267a0c2f5f"
 dependencies = [
  "approx",
  "glam 0.14.0",
@@ -796,7 +796,7 @@ dependencies = [
  "glam 0.27.0",
  "glam 0.28.0",
  "glam 0.29.3",
- "glam 0.30.5",
+ "glam 0.30.7",
  "matrixmultiply",
  "nalgebra-macros",
  "num-complex",
@@ -965,7 +965,7 @@ dependencies = [
  "either",
  "ena",
  "foldhash 0.2.0",
- "glam 0.30.5",
+ "glam 0.30.7",
  "hashbrown 0.16.0",
  "indexmap",
  "log",
@@ -1442,9 +1442,9 @@ checksum = "67b1b7a3b5fe4f1376887184045fcf45c69e92af734b7aaddc05fb777b6fbd03"
 
 [[package]]
 name = "spade"
-version = "2.14.0"
+version = "2.15.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a14e31a007e9f85c32784b04f89e6e194bb252a4d41b4a8ccd9e77245d901c8c"
+checksum = "fb313e1c8afee5b5647e00ee0fe6855e3d529eb863a0fdae1d60006c4d1e9990"
 dependencies = [
  "hashbrown 0.15.5",
  "num-traits",
@@ -1697,6 +1697,8 @@ dependencies = [
 [[package]]
 name = "wide"
 version = "0.7.33"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "0ce5da8ecb62bcd8ec8b7ea19f69a51275e91299be594ea5cc6ef7819e16cd03"
 dependencies = [
  "bytemuck",
  "safe_arch",
diff --git a/rapier-compat/src2d/init.ts b/rapier-compat/src2d/init.ts
index 668bfe1..749ff2a 100644
--- a/rapier-compat/src2d/init.ts
+++ b/rapier-compat/src2d/init.ts
@@ -1,6 +1,6 @@
 // @ts-ignore
-import wasmBase64 from "../pkg/rapier_wasm2d_bg.wasm";
-import wasmInit from "../pkg/rapier_wasm2d";
+import wasmBase64 from "../pkg/rapier_wasm2d_bg.wasm.js";
+import wasmInit from "../pkg/rapier_wasm2d.js";
 import base64 from "base64-js";
 
 /**
diff --git a/rapier-compat/src3d/init.ts b/rapier-compat/src3d/init.ts
index 15b14ad..e89272b 100644
--- a/rapier-compat/src3d/init.ts
+++ b/rapier-compat/src3d/init.ts
@@ -1,6 +1,6 @@
 // @ts-ignore
-import wasmBase64 from "../pkg/rapier_wasm3d_bg.wasm";
-import wasmInit from "../pkg/rapier_wasm3d";
+import wasmBase64 from "../pkg/rapier_wasm3d_bg.wasm.js";
+import wasmInit from "../pkg/rapier_wasm3d.js";
 import base64 from "base64-js";
 
 /**
diff --git a/rapier-compat/tests/World2d.test.ts b/rapier-compat/tests/World2d.test.ts
index 45a3bb7..0703dfe 100644
--- a/rapier-compat/tests/World2d.test.ts
+++ b/rapier-compat/tests/World2d.test.ts
@@ -1,4 +1,4 @@
-import {init, Vector2, World} from "../builds/2d-deterministic/pkg";
+import {init, Vector2, World} from "../builds/2d-deterministic/pkg/index.js";
 
 describe("2d/World", () => {
     let world: World;
diff --git a/rapier-compat/tests/World3d.test.ts b/rapier-compat/tests/World3d.test.ts
index e0ddd54..d4c874c 100644
--- a/rapier-compat/tests/World3d.test.ts
+++ b/rapier-compat/tests/World3d.test.ts
@@ -1,4 +1,4 @@
-import {init, Vector3, World} from "../builds/3d-deterministic/pkg";
+import {init, Vector3, World} from "../builds/3d-deterministic/pkg/index.js";
 
 describe("3d/World", () => {
     let world: World;
diff --git a/rapier-compat/tests/math2d.test.ts b/rapier-compat/tests/math2d.test.ts
index a756056..0f36120 100644
--- a/rapier-compat/tests/math2d.test.ts
+++ b/rapier-compat/tests/math2d.test.ts
@@ -1,4 +1,4 @@
-import {Vector2, VectorOps} from "../builds/2d-deterministic/pkg";
+import {Vector2, VectorOps} from "../builds/2d-deterministic/pkg/index.js";
 
 describe("2d/math", () => {
     test("Vector2", () => {
diff --git a/rapier-compat/tests/math3d.test.ts b/rapier-compat/tests/math3d.test.ts
index 2ff194c..98f1e5f 100644
--- a/rapier-compat/tests/math3d.test.ts
+++ b/rapier-compat/tests/math3d.test.ts
@@ -1,4 +1,4 @@
-import {Vector3, VectorOps} from "../builds/3d-deterministic/pkg";
+import {Vector3, VectorOps} from "../builds/3d-deterministic/pkg/index.js";
 
 describe("3d/math", () => {
     test("Vector3", () => {
diff --git a/src.ts/control/character_controller.ts b/src.ts/control/character_controller.ts
index 8e53639..dcaea54 100644
--- a/src.ts/control/character_controller.ts
+++ b/src.ts/control/character_controller.ts
@@ -1,5 +1,8 @@
-import {RawKinematicCharacterController, RawCharacterCollision} from "../raw";
-import {Rotation, Vector, VectorOps} from "../math";
+import {
+    RawKinematicCharacterController,
+    RawCharacterCollision,
+} from "../raw.js";
+import {Rotation, Vector, VectorOps} from "../math.js";
 import {
     BroadPhase,
     Collider,
@@ -7,9 +10,13 @@ import {
     InteractionGroups,
     NarrowPhase,
     Shape,
-} from "../geometry";
-import {QueryFilterFlags, World} from "../pipeline";
-import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
+} from "../geometry/index.js";
+import {QueryFilterFlags, World} from "../pipeline/index.js";
+import {
+    IntegrationParameters,
+    RigidBody,
+    RigidBodySet,
+} from "../dynamics/index.js";
 
 /**
  * A collision between the character and an obstacle hit on its path.
diff --git a/src.ts/control/index.ts b/src.ts/control/index.ts
index 43e495a..be47bc0 100644
--- a/src.ts/control/index.ts
+++ b/src.ts/control/index.ts
@@ -1,6 +1,6 @@
-export * from "./character_controller";
-export * from "./pid_controller";
+export * from "./character_controller.js";
+export * from "./pid_controller.js";
 
 // #if DIM3
-export * from "./ray_cast_vehicle_controller";
+export * from "./ray_cast_vehicle_controller.js";
 // #endif
diff --git a/src.ts/control/pid_controller.ts b/src.ts/control/pid_controller.ts
index 52b2f00..91a547c 100644
--- a/src.ts/control/pid_controller.ts
+++ b/src.ts/control/pid_controller.ts
@@ -1,8 +1,17 @@
-import {RawPidController} from "../raw";
-import {Rotation, RotationOps, Vector, VectorOps} from "../math";
-import {Collider, ColliderSet, InteractionGroups, Shape} from "../geometry";
-import {QueryFilterFlags, World} from "../pipeline";
-import {IntegrationParameters, RigidBody, RigidBodySet} from "../dynamics";
+import {RawPidController} from "../raw.js";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math.js";
+import {
+    Collider,
+    ColliderSet,
+    InteractionGroups,
+    Shape,
+} from "../geometry/index.js";
+import {QueryFilterFlags, World} from "../pipeline/index.js";
+import {
+    IntegrationParameters,
+    RigidBody,
+    RigidBodySet,
+} from "../dynamics/index.js";
 
 // TODO: unify with the JointAxesMask
 /**
diff --git a/src.ts/control/ray_cast_vehicle_controller.ts b/src.ts/control/ray_cast_vehicle_controller.ts
index fa65b3e..5bfe40c 100644
--- a/src.ts/control/ray_cast_vehicle_controller.ts
+++ b/src.ts/control/ray_cast_vehicle_controller.ts
@@ -1,14 +1,14 @@
-import {RawDynamicRayCastVehicleController} from "../raw";
-import {Vector, VectorOps} from "../math";
+import {RawDynamicRayCastVehicleController} from "../raw.js";
+import {Vector, VectorOps} from "../math.js";
 import {
     BroadPhase,
     Collider,
     ColliderSet,
     InteractionGroups,
     NarrowPhase,
-} from "../geometry";
-import {QueryFilterFlags} from "../pipeline";
-import {RigidBody, RigidBodyHandle, RigidBodySet} from "../dynamics";
+} from "../geometry/index.js";
+import {QueryFilterFlags} from "../pipeline/index.js";
+import {RigidBody, RigidBodyHandle, RigidBodySet} from "../dynamics/index.js";
 
 /**
  * A character controller to simulate vehicles using ray-casting for the wheels.
diff --git a/src.ts/dynamics/ccd_solver.ts b/src.ts/dynamics/ccd_solver.ts
index 7f79422..7c7ac17 100644
--- a/src.ts/dynamics/ccd_solver.ts
+++ b/src.ts/dynamics/ccd_solver.ts
@@ -1,4 +1,4 @@
-import {RawCCDSolver} from "../raw";
+import {RawCCDSolver} from "../raw.js";
 
 /**
  * The CCD solver responsible for resolving Continuous Collision Detection.
diff --git a/src.ts/dynamics/impulse_joint.ts b/src.ts/dynamics/impulse_joint.ts
index 0c637dd..0611148 100644
--- a/src.ts/dynamics/impulse_joint.ts
+++ b/src.ts/dynamics/impulse_joint.ts
@@ -1,4 +1,4 @@
-import {Rotation, Vector, VectorOps, RotationOps} from "../math";
+import {Rotation, Vector, VectorOps, RotationOps} from "../math.js";
 import {
     RawGenericJoint,
     RawImpulseJointSet,
@@ -6,11 +6,11 @@ import {
     RawJointAxis,
     RawJointType,
     RawMotorModel,
-} from "../raw";
-import {RigidBody, RigidBodyHandle} from "./rigid_body";
-import {RigidBodySet} from "./rigid_body_set";
+} from "../raw.js";
+import {RigidBody, RigidBodyHandle} from "./rigid_body.js";
+import {RigidBodySet} from "./rigid_body_set.js";
 // #if DIM3
-import {Quaternion} from "../math";
+import {Quaternion} from "../math.js";
 // #endif
 
 /**
diff --git a/src.ts/dynamics/impulse_joint_set.ts b/src.ts/dynamics/impulse_joint_set.ts
index 2d38251..47bc9cf 100644
--- a/src.ts/dynamics/impulse_joint_set.ts
+++ b/src.ts/dynamics/impulse_joint_set.ts
@@ -1,6 +1,6 @@
-import {RawImpulseJointSet} from "../raw";
-import {Coarena} from "../coarena";
-import {RigidBodySet} from "./rigid_body_set";
+import {RawImpulseJointSet} from "../raw.js";
+import {Coarena} from "../coarena.js";
+import {RigidBodySet} from "./rigid_body_set.js";
 import {
     RevoluteImpulseJoint,
     FixedImpulseJoint,
@@ -12,10 +12,10 @@ import {
     // #if DIM3
     SphericalImpulseJoint,
     // #endif
-} from "./impulse_joint";
-import {IslandManager} from "./island_manager";
-import {RigidBodyHandle} from "./rigid_body";
-import {Collider, ColliderHandle} from "../geometry";
+} from "./impulse_joint.js";
+import {IslandManager} from "./island_manager.js";
+import {RigidBodyHandle} from "./rigid_body.js";
+import {Collider, ColliderHandle} from "../geometry/index.js";
 
 /**
  * A set of joints.
diff --git a/src.ts/dynamics/index.ts b/src.ts/dynamics/index.ts
index 4141658..f223b2c 100644
--- a/src.ts/dynamics/index.ts
+++ b/src.ts/dynamics/index.ts
@@ -1,10 +1,10 @@
-export * from "./rigid_body";
-export * from "./rigid_body_set";
-export * from "./integration_parameters";
-export * from "./impulse_joint";
-export * from "./impulse_joint_set";
-export * from "./multibody_joint";
-export * from "./multibody_joint_set";
-export * from "./coefficient_combine_rule";
-export * from "./ccd_solver";
-export * from "./island_manager";
+export * from "./rigid_body.js";
+export * from "./rigid_body_set.js";
+export * from "./integration_parameters.js";
+export * from "./impulse_joint.js";
+export * from "./impulse_joint_set.js";
+export * from "./multibody_joint.js";
+export * from "./multibody_joint_set.js";
+export * from "./coefficient_combine_rule.js";
+export * from "./ccd_solver.js";
+export * from "./island_manager.js";
diff --git a/src.ts/dynamics/integration_parameters.ts b/src.ts/dynamics/integration_parameters.ts
index b7253e2..b1b0e83 100644
--- a/src.ts/dynamics/integration_parameters.ts
+++ b/src.ts/dynamics/integration_parameters.ts
@@ -1,4 +1,4 @@
-import {RawIntegrationParameters} from "../raw";
+import {RawIntegrationParameters} from "../raw.js";
 
 export class IntegrationParameters {
     raw: RawIntegrationParameters;
diff --git a/src.ts/dynamics/island_manager.ts b/src.ts/dynamics/island_manager.ts
index 65ed21d..15334a1 100644
--- a/src.ts/dynamics/island_manager.ts
+++ b/src.ts/dynamics/island_manager.ts
@@ -1,5 +1,5 @@
-import {RawIslandManager} from "../raw";
-import {RigidBodyHandle} from "./rigid_body";
+import {RawIslandManager} from "../raw.js";
+import {RigidBodyHandle} from "./rigid_body.js";
 
 /**
  * The CCD solver responsible for resolving Continuous Collision Detection.
diff --git a/src.ts/dynamics/multibody_joint.ts b/src.ts/dynamics/multibody_joint.ts
index 5608aec..e6d2ede 100644
--- a/src.ts/dynamics/multibody_joint.ts
+++ b/src.ts/dynamics/multibody_joint.ts
@@ -3,7 +3,7 @@ import {
     RawJointAxis,
     RawJointType,
     RawMultibodyJointSet,
-} from "../raw";
+} from "../raw.js";
 import {
     FixedImpulseJoint,
     ImpulseJointHandle,
@@ -11,11 +11,11 @@ import {
     MotorModel,
     PrismaticImpulseJoint,
     RevoluteImpulseJoint,
-} from "./impulse_joint";
+} from "./impulse_joint.js";
 
 // #if DIM3
-import {Quaternion} from "../math";
-import {SphericalImpulseJoint} from "./impulse_joint";
+import {Quaternion} from "../math.js";
+import {SphericalImpulseJoint} from "./impulse_joint.js";
 // #endif
 
 /**
diff --git a/src.ts/dynamics/multibody_joint_set.ts b/src.ts/dynamics/multibody_joint_set.ts
index 2fbb340..090d21a 100644
--- a/src.ts/dynamics/multibody_joint_set.ts
+++ b/src.ts/dynamics/multibody_joint_set.ts
@@ -1,6 +1,6 @@
-import {RawMultibodyJointSet} from "../raw";
-import {Coarena} from "../coarena";
-import {RigidBodySet} from "./rigid_body_set";
+import {RawMultibodyJointSet} from "../raw.js";
+import {Coarena} from "../coarena.js";
+import {RigidBodySet} from "./rigid_body_set.js";
 import {
     MultibodyJoint,
     MultibodyJointHandle,
@@ -10,11 +10,11 @@ import {
     // #if DIM3
     SphericalMultibodyJoint,
     // #endif
-} from "./multibody_joint";
-import {ImpulseJointHandle, JointData, JointType} from "./impulse_joint";
-import {IslandManager} from "./island_manager";
-import {ColliderHandle} from "../geometry";
-import {RigidBodyHandle} from "./rigid_body";
+} from "./multibody_joint.js";
+import {ImpulseJointHandle, JointData, JointType} from "./impulse_joint.js";
+import {IslandManager} from "./island_manager.js";
+import {ColliderHandle} from "../geometry/index.js";
+import {RigidBodyHandle} from "./rigid_body.js";
 
 /**
  * A set of joints.
diff --git a/src.ts/dynamics/rigid_body.ts b/src.ts/dynamics/rigid_body.ts
index 8f52dbe..f15c34d 100644
--- a/src.ts/dynamics/rigid_body.ts
+++ b/src.ts/dynamics/rigid_body.ts
@@ -1,9 +1,9 @@
-import {RawRigidBodySet, RawRigidBodyType} from "../raw";
-import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+import {RawRigidBodySet, RawRigidBodyType} from "../raw.js";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math.js";
 // #if DIM3
-import {SdpMatrix3, SdpMatrix3Ops} from "../math";
+import {SdpMatrix3, SdpMatrix3Ops} from "../math.js";
 // #endif
-import {Collider, ColliderSet} from "../geometry";
+import {Collider, ColliderSet} from "../geometry/index.js";
 
 /**
  * The integer identifier of a collider added to a `ColliderSet`.
diff --git a/src.ts/dynamics/rigid_body_set.ts b/src.ts/dynamics/rigid_body_set.ts
index 4c2e47b..d2eed81 100644
--- a/src.ts/dynamics/rigid_body_set.ts
+++ b/src.ts/dynamics/rigid_body_set.ts
@@ -1,16 +1,16 @@
-import {RawRigidBodySet, RawRigidBodyType} from "../raw";
-import {Coarena} from "../coarena";
-import {VectorOps, RotationOps} from "../math";
+import {RawRigidBodySet, RawRigidBodyType} from "../raw.js";
+import {Coarena} from "../coarena.js";
+import {VectorOps, RotationOps} from "../math.js";
 import {
     RigidBody,
     RigidBodyDesc,
     RigidBodyHandle,
     RigidBodyType,
-} from "./rigid_body";
-import {ColliderSet} from "../geometry";
-import {ImpulseJointSet} from "./impulse_joint_set";
-import {MultibodyJointSet} from "./multibody_joint_set";
-import {IslandManager} from "./island_manager";
+} from "./rigid_body.js";
+import {ColliderSet} from "../geometry/index.js";
+import {ImpulseJointSet} from "./impulse_joint_set.js";
+import {MultibodyJointSet} from "./multibody_joint_set.js";
+import {IslandManager} from "./island_manager.js";
 
 /**
  * A set of rigid bodies that can be handled by a physics pipeline.
diff --git a/src.ts/exports.ts b/src.ts/exports.ts
index 237bd54..d16e564 100644
--- a/src.ts/exports.ts
+++ b/src.ts/exports.ts
@@ -1,4 +1,4 @@
-import {version as vers, reserve_memory as reserve} from "./raw";
+import {version as vers, reserve_memory as reserve} from "./raw.js";
 
 export function version(): string {
     return vers();
@@ -19,9 +19,9 @@ export function reserveMemory(extraBytesCount: number) {
     reserve(extraBytesCount);
 }
 
-export * from "./math";
-export * from "./dynamics";
-export * from "./geometry";
-export * from "./pipeline";
-export * from "./init";
-export * from "./control";
+export * from "./math.js";
+export * from "./dynamics/index.js";
+export * from "./geometry/index.js";
+export * from "./pipeline/index.js";
+export * from "./init.js";
+export * from "./control/index.js";
diff --git a/src.ts/geometry/broad_phase.ts b/src.ts/geometry/broad_phase.ts
index addaee9..c4391fd 100644
--- a/src.ts/geometry/broad_phase.ts
+++ b/src.ts/geometry/broad_phase.ts
@@ -1,15 +1,15 @@
-import {RawBroadPhase, RawRayColliderIntersection} from "../raw";
-import {RigidBodyHandle, RigidBodySet} from "../dynamics";
-import {ColliderSet} from "./collider_set";
-import {Ray, RayColliderHit, RayColliderIntersection} from "./ray";
-import {InteractionGroups} from "./interaction_groups";
-import {ColliderHandle} from "./collider";
-import {Rotation, RotationOps, Vector, VectorOps} from "../math";
-import {Shape} from "./shape";
-import {PointColliderProjection} from "./point";
-import {ColliderShapeCastHit} from "./toi";
-import {QueryFilterFlags} from "../pipeline";
-import {NarrowPhase} from "./narrow_phase";
+import {RawBroadPhase, RawRayColliderIntersection} from "../raw.js";
+import {RigidBodyHandle, RigidBodySet} from "../dynamics/index.js";
+import {ColliderSet} from "./collider_set.js";
+import {Ray, RayColliderHit, RayColliderIntersection} from "./ray.js";
+import {InteractionGroups} from "./interaction_groups.js";
+import {ColliderHandle} from "./collider.js";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math.js";
+import {Shape} from "./shape.js";
+import {PointColliderProjection} from "./point.js";
+import {ColliderShapeCastHit} from "./toi.js";
+import {QueryFilterFlags} from "../pipeline/index.js";
+import {NarrowPhase} from "./narrow_phase.js";
 
 /**
  * The broad-phase used for coarse collision-detection.
diff --git a/src.ts/geometry/collider.ts b/src.ts/geometry/collider.ts
index 2581736..1f252f9 100644
--- a/src.ts/geometry/collider.ts
+++ b/src.ts/geometry/collider.ts
@@ -1,13 +1,13 @@
-import {RawColliderSet} from "../raw";
-import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+import {RawColliderSet} from "../raw.js";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math.js";
 import {
     CoefficientCombineRule,
     RigidBody,
     RigidBodyHandle,
     RigidBodySet,
-} from "../dynamics";
-import {ActiveHooks, ActiveEvents} from "../pipeline";
-import {InteractionGroups} from "./interaction_groups";
+} from "../dynamics/index.js";
+import {ActiveHooks, ActiveEvents} from "../pipeline/index.js";
+import {InteractionGroups} from "./interaction_groups.js";
 import {
     Shape,
     Cuboid,
@@ -37,12 +37,12 @@ import {
     RoundConvexPolyhedron,
     HeightFieldFlags,
     // #endif
-} from "./shape";
-import {Ray, RayIntersection} from "./ray";
-import {PointProjection} from "./point";
-import {ColliderShapeCastHit, ShapeCastHit} from "./toi";
-import {ShapeContact} from "./contact";
-import {ColliderSet} from "./collider_set";
+} from "./shape.js";
+import {Ray, RayIntersection} from "./ray.js";
+import {PointProjection} from "./point.js";
+import {ColliderShapeCastHit, ShapeCastHit} from "./toi.js";
+import {ShapeContact} from "./contact.js";
+import {ColliderSet} from "./collider_set.js";
 
 /**
  * Flags affecting whether collision-detection happens between two colliders
diff --git a/src.ts/geometry/collider_set.ts b/src.ts/geometry/collider_set.ts
index 832b837..9253df1 100644
--- a/src.ts/geometry/collider_set.ts
+++ b/src.ts/geometry/collider_set.ts
@@ -1,9 +1,13 @@
-import {RawColliderSet} from "../raw";
-import {Coarena} from "../coarena";
-import {RotationOps, VectorOps} from "../math";
-import {Collider, ColliderDesc, ColliderHandle} from "./collider";
-import {ImpulseJointHandle, IslandManager, RigidBodyHandle} from "../dynamics";
-import {RigidBodySet} from "../dynamics";
+import {RawColliderSet} from "../raw.js";
+import {Coarena} from "../coarena.js";
+import {RotationOps, VectorOps} from "../math.js";
+import {Collider, ColliderDesc, ColliderHandle} from "./collider.js";
+import {
+    ImpulseJointHandle,
+    IslandManager,
+    RigidBodyHandle,
+} from "../dynamics/index.js";
+import {RigidBodySet} from "../dynamics/index.js";
 
 /**
  * A set of rigid bodies that can be handled by a physics pipeline.
diff --git a/src.ts/geometry/contact.ts b/src.ts/geometry/contact.ts
index 802f57f..aa469df 100644
--- a/src.ts/geometry/contact.ts
+++ b/src.ts/geometry/contact.ts
@@ -1,5 +1,5 @@
-import {Vector, VectorOps} from "../math";
-import {RawShapeContact} from "../raw";
+import {Vector, VectorOps} from "../math.js";
+import {RawShapeContact} from "../raw.js";
 
 /**
  * The contact info between two shapes.
diff --git a/src.ts/geometry/index.ts b/src.ts/geometry/index.ts
index 1bd19e5..c0b44f0 100644
--- a/src.ts/geometry/index.ts
+++ b/src.ts/geometry/index.ts
@@ -1,11 +1,11 @@
-export * from "./broad_phase";
-export * from "./narrow_phase";
-export * from "./shape";
-export * from "./collider";
-export * from "./collider_set";
-export * from "./feature";
-export * from "./ray";
-export * from "./point";
-export * from "./toi";
-export * from "./interaction_groups";
-export * from "./contact";
+export * from "./broad_phase.js";
+export * from "./narrow_phase.js";
+export * from "./shape.js";
+export * from "./collider.js";
+export * from "./collider_set.js";
+export * from "./feature.js";
+export * from "./ray.js";
+export * from "./point.js";
+export * from "./toi.js";
+export * from "./interaction_groups.js";
+export * from "./contact.js";
diff --git a/src.ts/geometry/narrow_phase.ts b/src.ts/geometry/narrow_phase.ts
index af04a22..63aacac 100644
--- a/src.ts/geometry/narrow_phase.ts
+++ b/src.ts/geometry/narrow_phase.ts
@@ -1,6 +1,6 @@
-import {RawNarrowPhase, RawContactManifold} from "../raw";
-import {ColliderHandle} from "./collider";
-import {Vector, VectorOps} from "../math";
+import {RawNarrowPhase, RawContactManifold} from "../raw.js";
+import {ColliderHandle} from "./collider.js";
+import {Vector, VectorOps} from "../math.js";
 
 /**
  * The narrow-phase used for precise collision-detection.
diff --git a/src.ts/geometry/point.ts b/src.ts/geometry/point.ts
index d272b7e..eeda59d 100644
--- a/src.ts/geometry/point.ts
+++ b/src.ts/geometry/point.ts
@@ -1,12 +1,12 @@
-import {Collider, ColliderHandle} from "./collider";
-import {Vector, VectorOps} from "../math";
+import {Collider, ColliderHandle} from "./collider.js";
+import {Vector, VectorOps} from "../math.js";
 import {
     RawFeatureType,
     RawPointColliderProjection,
     RawPointProjection,
-} from "../raw";
-import {FeatureType} from "./feature";
-import {ColliderSet} from "./collider_set";
+} from "../raw.js";
+import {FeatureType} from "./feature.js";
+import {ColliderSet} from "./collider_set.js";
 
 /**
  * The projection of a point on a collider.
diff --git a/src.ts/geometry/ray.ts b/src.ts/geometry/ray.ts
index 36df5ee..d40c73a 100644
--- a/src.ts/geometry/ray.ts
+++ b/src.ts/geometry/ray.ts
@@ -1,13 +1,13 @@
-import {Vector, VectorOps} from "../math";
+import {Vector, VectorOps} from "../math.js";
 import {
     RawFeatureType,
     RawRayColliderIntersection,
     RawRayColliderHit,
     RawRayIntersection,
-} from "../raw";
-import {Collider} from "./collider";
-import {FeatureType} from "./feature";
-import {ColliderSet} from "./collider_set";
+} from "../raw.js";
+import {Collider} from "./collider.js";
+import {FeatureType} from "./feature.js";
+import {ColliderSet} from "./collider_set.js";
 
 /**
  * A ray. This is a directed half-line.
diff --git a/src.ts/geometry/shape.ts b/src.ts/geometry/shape.ts
index f354698..1ba3f48 100644
--- a/src.ts/geometry/shape.ts
+++ b/src.ts/geometry/shape.ts
@@ -1,10 +1,10 @@
-import {Vector, VectorOps, Rotation, RotationOps} from "../math";
-import {RawColliderSet, RawShape, RawShapeType} from "../raw";
-import {ShapeContact} from "./contact";
-import {PointProjection} from "./point";
-import {Ray, RayIntersection} from "./ray";
-import {ShapeCastHit} from "./toi";
-import {ColliderHandle} from "./collider";
+import {Vector, VectorOps, Rotation, RotationOps} from "../math.js";
+import {RawColliderSet, RawShape, RawShapeType} from "../raw.js";
+import {ShapeContact} from "./contact.js";
+import {PointProjection} from "./point.js";
+import {Ray, RayIntersection} from "./ray.js";
+import {ShapeCastHit} from "./toi.js";
+import {ColliderHandle} from "./collider.js";
 
 export abstract class Shape {
     public abstract intoRaw(): RawShape;
diff --git a/src.ts/geometry/toi.ts b/src.ts/geometry/toi.ts
index ade13f1..bda43b6 100644
--- a/src.ts/geometry/toi.ts
+++ b/src.ts/geometry/toi.ts
@@ -1,7 +1,7 @@
-import {Collider} from "./collider";
-import {Vector, VectorOps} from "../math";
-import {RawShapeCastHit, RawColliderShapeCastHit} from "../raw";
-import {ColliderSet} from "./collider_set";
+import {Collider} from "./collider.js";
+import {Vector, VectorOps} from "../math.js";
+import {RawShapeCastHit, RawColliderShapeCastHit} from "../raw.js";
+import {ColliderSet} from "./collider_set.js";
 
 /**
  * The intersection between a ray and a collider.
diff --git a/src.ts/math.ts b/src.ts/math.ts
index ebca392..9467577 100644
--- a/src.ts/math.ts
+++ b/src.ts/math.ts
@@ -1,6 +1,6 @@
-import {RawVector, RawRotation} from "./raw";
+import {RawVector, RawRotation} from "./raw.js";
 // #if DIM3
-import {RawSdpMatrix3} from "./raw";
+import {RawSdpMatrix3} from "./raw.js";
 // #endif
 
 // #if DIM2
diff --git a/src.ts/pipeline/debug_render_pipeline.ts b/src.ts/pipeline/debug_render_pipeline.ts
index bf0d705..82d1a6a 100644
--- a/src.ts/pipeline/debug_render_pipeline.ts
+++ b/src.ts/pipeline/debug_render_pipeline.ts
@@ -1,14 +1,19 @@
-import {RawDebugRenderPipeline} from "../raw";
-import {Vector, VectorOps} from "../math";
+import {RawDebugRenderPipeline} from "../raw.js";
+import {Vector, VectorOps} from "../math.js";
 import {
     IntegrationParameters,
     IslandManager,
     ImpulseJointSet,
     MultibodyJointSet,
     RigidBodySet,
-} from "../dynamics";
-import {BroadPhase, Collider, ColliderSet, NarrowPhase} from "../geometry";
-import {QueryFilterFlags} from "./query_pipeline";
+} from "../dynamics/index.js";
+import {
+    BroadPhase,
+    Collider,
+    ColliderSet,
+    NarrowPhase,
+} from "../geometry/index.js";
+import {QueryFilterFlags} from "./query_pipeline.js";
 
 /**
  * The vertex and color buffers for debug-redering the physics scene.
diff --git a/src.ts/pipeline/event_queue.ts b/src.ts/pipeline/event_queue.ts
index e39c158..0ecd91d 100644
--- a/src.ts/pipeline/event_queue.ts
+++ b/src.ts/pipeline/event_queue.ts
@@ -1,7 +1,7 @@
-import {RawContactForceEvent, RawEventQueue} from "../raw";
-import {RigidBodyHandle} from "../dynamics";
-import {Collider, ColliderHandle} from "../geometry";
-import {Vector, VectorOps} from "../math";
+import {RawContactForceEvent, RawEventQueue} from "../raw.js";
+import {RigidBodyHandle} from "../dynamics/index.js";
+import {Collider, ColliderHandle} from "../geometry/index.js";
+import {Vector, VectorOps} from "../math.js";
 
 /**
  * Flags indicating what events are enabled for colliders.
diff --git a/src.ts/pipeline/index.ts b/src.ts/pipeline/index.ts
index 092c1a5..818cf76 100644
--- a/src.ts/pipeline/index.ts
+++ b/src.ts/pipeline/index.ts
@@ -1,7 +1,7 @@
-export * from "./world";
-export * from "./physics_pipeline";
-export * from "./serialization_pipeline";
-export * from "./event_queue";
-export * from "./physics_hooks";
-export * from "./debug_render_pipeline";
-export * from "./query_pipeline";
+export * from "./world.js";
+export * from "./physics_pipeline.js";
+export * from "./serialization_pipeline.js";
+export * from "./event_queue.js";
+export * from "./physics_hooks.js";
+export * from "./debug_render_pipeline.js";
+export * from "./query_pipeline.js";
diff --git a/src.ts/pipeline/physics_hooks.ts b/src.ts/pipeline/physics_hooks.ts
index 20e12ad..e680bd4 100644
--- a/src.ts/pipeline/physics_hooks.ts
+++ b/src.ts/pipeline/physics_hooks.ts
@@ -1,5 +1,5 @@
-import {RigidBodyHandle} from "../dynamics";
-import {ColliderHandle} from "../geometry";
+import {RigidBodyHandle} from "../dynamics/index.js";
+import {ColliderHandle} from "../geometry/index.js";
 
 export enum ActiveHooks {
     NONE = 0,
diff --git a/src.ts/pipeline/physics_pipeline.ts b/src.ts/pipeline/physics_pipeline.ts
index a331920..6e0a3c8 100644
--- a/src.ts/pipeline/physics_pipeline.ts
+++ b/src.ts/pipeline/physics_pipeline.ts
@@ -1,5 +1,5 @@
-import {RawPhysicsPipeline} from "../raw";
-import {Vector, VectorOps} from "../math";
+import {RawPhysicsPipeline} from "../raw.js";
+import {Vector, VectorOps} from "../math.js";
 import {
     IntegrationParameters,
     ImpulseJointSet,
@@ -8,15 +8,15 @@ import {
     RigidBodySet,
     CCDSolver,
     IslandManager,
-} from "../dynamics";
+} from "../dynamics/index.js";
 import {
     BroadPhase,
     ColliderHandle,
     ColliderSet,
     NarrowPhase,
-} from "../geometry";
-import {EventQueue} from "./event_queue";
-import {PhysicsHooks} from "./physics_hooks";
+} from "../geometry/index.js";
+import {EventQueue} from "./event_queue.js";
+import {PhysicsHooks} from "./physics_hooks.js";
 
 export class PhysicsPipeline {
     raw: RawPhysicsPipeline;
diff --git a/src.ts/pipeline/query_pipeline.ts b/src.ts/pipeline/query_pipeline.ts
index 5610ff3..dda7288 100644
--- a/src.ts/pipeline/query_pipeline.ts
+++ b/src.ts/pipeline/query_pipeline.ts
@@ -1,4 +1,4 @@
-import {RawRayColliderIntersection} from "../raw";
+import {RawRayColliderIntersection} from "../raw.js";
 import {
     ColliderHandle,
     ColliderSet,
@@ -9,9 +9,13 @@ import {
     RayColliderHit,
     Shape,
     ColliderShapeCastHit,
-} from "../geometry";
-import {IslandManager, RigidBodyHandle, RigidBodySet} from "../dynamics";
-import {Rotation, RotationOps, Vector, VectorOps} from "../math";
+} from "../geometry/index.js";
+import {
+    IslandManager,
+    RigidBodyHandle,
+    RigidBodySet,
+} from "../dynamics/index.js";
+import {Rotation, RotationOps, Vector, VectorOps} from "../math.js";
 
 // NOTE: must match the bits in the QueryFilterFlags on the Rust side.
 /**
diff --git a/src.ts/pipeline/serialization_pipeline.ts b/src.ts/pipeline/serialization_pipeline.ts
index 87fde39..2c10201 100644
--- a/src.ts/pipeline/serialization_pipeline.ts
+++ b/src.ts/pipeline/serialization_pipeline.ts
@@ -1,14 +1,14 @@
-import {RawSerializationPipeline} from "../raw";
-import {Vector, VectorOps} from "../math";
+import {RawSerializationPipeline} from "../raw.js";
+import {Vector, VectorOps} from "../math.js";
 import {
     IntegrationParameters,
     IslandManager,
     ImpulseJointSet,
     MultibodyJointSet,
     RigidBodySet,
-} from "../dynamics";
-import {BroadPhase, ColliderSet, NarrowPhase} from "../geometry";
-import {World} from "./world";
+} from "../dynamics/index.js";
+import {BroadPhase, ColliderSet, NarrowPhase} from "../geometry/index.js";
+import {World} from "./world.js";
 
 /**
  * A pipeline for serializing the physics scene.
diff --git a/src.ts/pipeline/world.ts b/src.ts/pipeline/world.ts
index 9ee8561..4047687 100644
--- a/src.ts/pipeline/world.ts
+++ b/src.ts/pipeline/world.ts
@@ -12,7 +12,7 @@ import {
     RawRigidBodySet,
     RawSerializationPipeline,
     RawDebugRenderPipeline,
-} from "../raw";
+} from "../raw.js";
 
 import {
     BroadPhase,
@@ -29,7 +29,7 @@ import {
     Shape,
     ColliderShapeCastHit,
     TempContactManifold,
-} from "../geometry";
+} from "../geometry/index.js";
 import {
     CCDSolver,
     IntegrationParameters,
@@ -45,23 +45,26 @@ import {
     RigidBodyDesc,
     RigidBodyHandle,
     RigidBodySet,
-} from "../dynamics";
-import {Rotation, Vector, VectorOps} from "../math";
-import {PhysicsPipeline} from "./physics_pipeline";
-import {QueryFilterFlags} from "./query_pipeline";
-import {SerializationPipeline} from "./serialization_pipeline";
-import {EventQueue} from "./event_queue";
-import {PhysicsHooks} from "./physics_hooks";
-import {DebugRenderBuffers, DebugRenderPipeline} from "./debug_render_pipeline";
+} from "../dynamics/index.js";
+import {Rotation, Vector, VectorOps} from "../math.js";
+import {PhysicsPipeline} from "./physics_pipeline.js";
+import {QueryFilterFlags} from "./query_pipeline.js";
+import {SerializationPipeline} from "./serialization_pipeline.js";
+import {EventQueue} from "./event_queue.js";
+import {PhysicsHooks} from "./physics_hooks.js";
+import {
+    DebugRenderBuffers,
+    DebugRenderPipeline,
+} from "./debug_render_pipeline.js";
 import {
     KinematicCharacterController,
     PidAxesMask,
     PidController,
-} from "../control";
-import {Coarena} from "../coarena";
+} from "../control/index.js";
+import {Coarena} from "../coarena.js";
 
 // #if DIM3
-import {DynamicRayCastVehicleController} from "../control";
+import {DynamicRayCastVehicleController} from "../control/index.js";
 
 // #endif
 
diff --git a/src.ts/rapier.ts b/src.ts/rapier.ts
index dbf4d05..7afc45f 100644
--- a/src.ts/rapier.ts
+++ b/src.ts/rapier.ts
@@ -1,3 +1,3 @@
-import * as RAPIER from "./exports";
-export * from "./exports";
+import * as RAPIER from "./exports.js";
+export * from "./exports.js";
 export default RAPIER;
diff --git a/testbed2d/src/Gui.ts b/testbed2d/src/Gui.ts
index a410607..984ba1f 100644
--- a/testbed2d/src/Gui.ts
+++ b/testbed2d/src/Gui.ts
@@ -1,6 +1,6 @@
 import GUI from "lil-gui";
 import * as Stats from "stats.js";
-import type {Testbed} from "./Testbed";
+import type {Testbed} from "./Testbed.js";
 
 export interface DebugInfos {
     token: number;
diff --git a/testbed2d/src/Testbed.ts b/testbed2d/src/Testbed.ts
index 61279ab..ffc804f 100644
--- a/testbed2d/src/Testbed.ts
+++ b/testbed2d/src/Testbed.ts
@@ -1,6 +1,6 @@
-import {Graphics} from "./Graphics";
-import {Gui} from "./Gui";
-import type {DebugInfos} from "./Gui";
+import {Graphics} from "./Graphics.js";
+import {Gui} from "./Gui.js";
+import type {DebugInfos} from "./Gui.js";
 import {xxhash128} from "hash-wasm";
 import type * as RAPIER from "@dimforge/rapier2d";
 
diff --git a/testbed2d/src/demos/characterController.ts b/testbed2d/src/demos/characterController.ts
index 7877db1..3c51542 100644
--- a/testbed2d/src/demos/characterController.ts
+++ b/testbed2d/src/demos/characterController.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/collisionGroups.ts b/testbed2d/src/demos/collisionGroups.ts
index 5116361..c75470c 100644
--- a/testbed2d/src/demos/collisionGroups.ts
+++ b/testbed2d/src/demos/collisionGroups.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/convexPolygons.ts b/testbed2d/src/demos/convexPolygons.ts
index 6edad20..9cce475 100644
--- a/testbed2d/src/demos/convexPolygons.ts
+++ b/testbed2d/src/demos/convexPolygons.ts
@@ -1,5 +1,5 @@
 import seedrandom from "seedrandom";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/cubes.ts b/testbed2d/src/demos/cubes.ts
index 5214b48..e5c3386 100644
--- a/testbed2d/src/demos/cubes.ts
+++ b/testbed2d/src/demos/cubes.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/heightfield.ts b/testbed2d/src/demos/heightfield.ts
index d055499..fe2c706 100644
--- a/testbed2d/src/demos/heightfield.ts
+++ b/testbed2d/src/demos/heightfield.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/keva.ts b/testbed2d/src/demos/keva.ts
index 6ca57c0..a338442 100644
--- a/testbed2d/src/demos/keva.ts
+++ b/testbed2d/src/demos/keva.ts
@@ -1,5 +1,5 @@
 import type * as RAPIER from "@dimforge/rapier2d";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/lockedRotations.ts b/testbed2d/src/demos/lockedRotations.ts
index 8600f95..09f88e7 100644
--- a/testbed2d/src/demos/lockedRotations.ts
+++ b/testbed2d/src/demos/lockedRotations.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/pidController.ts b/testbed2d/src/demos/pidController.ts
index fac2a7c..372a3ec 100644
--- a/testbed2d/src/demos/pidController.ts
+++ b/testbed2d/src/demos/pidController.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/polyline.ts b/testbed2d/src/demos/polyline.ts
index 47d8254..c4b09c6 100644
--- a/testbed2d/src/demos/polyline.ts
+++ b/testbed2d/src/demos/polyline.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/revoluteJoints.ts b/testbed2d/src/demos/revoluteJoints.ts
index 2d7923f..2bd7217 100644
--- a/testbed2d/src/demos/revoluteJoints.ts
+++ b/testbed2d/src/demos/revoluteJoints.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/demos/voxels.ts b/testbed2d/src/demos/voxels.ts
index 6a6fc36..100ad37 100644
--- a/testbed2d/src/demos/voxels.ts
+++ b/testbed2d/src/demos/voxels.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier2d");
 
diff --git a/testbed2d/src/index.ts b/testbed2d/src/index.ts
index 24bd18f..1491faf 100644
--- a/testbed2d/src/index.ts
+++ b/testbed2d/src/index.ts
@@ -1,15 +1,15 @@
-import {Testbed} from "./Testbed";
-import * as CollisionGroups from "./demos/collisionGroups";
-import * as Cubes from "./demos/cubes";
-import * as Keva from "./demos/keva";
-import * as Heightfield from "./demos/heightfield";
-import * as Polyline from "./demos/polyline";
-import * as RevoluteJoints from "./demos/revoluteJoints";
-import * as LockedRotations from "./demos/lockedRotations";
-import * as ConvexPolygons from "./demos/convexPolygons";
-import * as CharacterController from "./demos/characterController";
-import * as PidController from "./demos/pidController";
-import * as Voxels from "./demos/voxels";
+import {Testbed} from "./Testbed.js";
+import * as CollisionGroups from "./demos/collisionGroups.js";
+import * as Cubes from "./demos/cubes.js";
+import * as Keva from "./demos/keva.js";
+import * as Heightfield from "./demos/heightfield.js";
+import * as Polyline from "./demos/polyline.js";
+import * as RevoluteJoints from "./demos/revoluteJoints.js";
+import * as LockedRotations from "./demos/lockedRotations.js";
+import * as ConvexPolygons from "./demos/convexPolygons.js";
+import * as CharacterController from "./demos/characterController.js";
+import * as PidController from "./demos/pidController.js";
+import * as Voxels from "./demos/voxels.js";
 
 import("@dimforge/rapier2d").then((RAPIER) => {
     let builders = new Map([
diff --git a/testbed3d/src/Graphics.ts b/testbed3d/src/Graphics.ts
index f52d6c9..be199cc 100644
--- a/testbed3d/src/Graphics.ts
+++ b/testbed3d/src/Graphics.ts
@@ -1,5 +1,5 @@
 import * as THREE from "three";
-import {OrbitControls} from "three/examples/jsm/controls/OrbitControls";
+import {OrbitControls} from "three/examples/jsm/controls/OrbitControls.js";
 import RAPIER from "@dimforge/rapier3d";
 
 const BOX_INSTANCE_INDEX = 0;
diff --git a/testbed3d/src/Gui.ts b/testbed3d/src/Gui.ts
index e89b2f4..abe468c 100644
--- a/testbed3d/src/Gui.ts
+++ b/testbed3d/src/Gui.ts
@@ -1,6 +1,6 @@
 import GUI from "lil-gui";
 import * as Stats from "stats.js";
-import type {Testbed} from "./Testbed";
+import type {Testbed} from "./Testbed.js";
 
 export interface DebugInfos {
     token: number;
diff --git a/testbed3d/src/Testbed.ts b/testbed3d/src/Testbed.ts
index 5d3afd8..8ed485f 100644
--- a/testbed3d/src/Testbed.ts
+++ b/testbed3d/src/Testbed.ts
@@ -1,6 +1,6 @@
-import {Graphics} from "./Graphics";
-import {Gui} from "./Gui";
-import type {DebugInfos} from "./Gui";
+import {Graphics} from "./Graphics.js";
+import {Gui} from "./Gui.js";
+import type {DebugInfos} from "./Gui.js";
 import {xxhash128} from "hash-wasm";
 import type * as RAPIER from "@dimforge/rapier3d";
 
diff --git a/testbed3d/src/demos/ccd.ts b/testbed3d/src/demos/ccd.ts
index 823c901..8bcfac2 100644
--- a/testbed3d/src/demos/ccd.ts
+++ b/testbed3d/src/demos/ccd.ts
@@ -1,5 +1,5 @@
 import type RAPIER from "@dimforge/rapier3d";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/characterController.ts b/testbed3d/src/demos/characterController.ts
index 2406ebc..950c0a3 100644
--- a/testbed3d/src/demos/characterController.ts
+++ b/testbed3d/src/demos/characterController.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/collisionGroups.ts b/testbed3d/src/demos/collisionGroups.ts
index 49c9ddb..d89ebb2 100644
--- a/testbed3d/src/demos/collisionGroups.ts
+++ b/testbed3d/src/demos/collisionGroups.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/convexPolyhedron.ts b/testbed3d/src/demos/convexPolyhedron.ts
index 0ec4b90..d01b1ec 100644
--- a/testbed3d/src/demos/convexPolyhedron.ts
+++ b/testbed3d/src/demos/convexPolyhedron.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 import seedrandom from "seedrandom";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
diff --git a/testbed3d/src/demos/damping.ts b/testbed3d/src/demos/damping.ts
index c6295f6..4e834ee 100644
--- a/testbed3d/src/demos/damping.ts
+++ b/testbed3d/src/demos/damping.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/fountain.ts b/testbed3d/src/demos/fountain.ts
index 00d8dce..96a6c7c 100644
--- a/testbed3d/src/demos/fountain.ts
+++ b/testbed3d/src/demos/fountain.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/glbToTrimesh.ts b/testbed3d/src/demos/glbToTrimesh.ts
index fa65a7c..30de119 100644
--- a/testbed3d/src/demos/glbToTrimesh.ts
+++ b/testbed3d/src/demos/glbToTrimesh.ts
@@ -1,6 +1,6 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 import {Vector3, Object3D, Mesh, BufferGeometry, BufferAttribute} from "three";
-import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader";
+import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader.js";
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
 export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
diff --git a/testbed3d/src/demos/glbtoConvexHull.ts b/testbed3d/src/demos/glbtoConvexHull.ts
index a4d2619..9f36bee 100644
--- a/testbed3d/src/demos/glbtoConvexHull.ts
+++ b/testbed3d/src/demos/glbtoConvexHull.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 import {
     Vector3,
     Object3D,
@@ -7,7 +7,7 @@ import {
     BufferAttribute,
     TriangleStripDrawMode,
 } from "three";
-import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader";
+import {GLTFLoader} from "three/examples/jsm/loaders/GLTFLoader.js";
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
 export function initWorld(RAPIER: RAPIER_API, testbed: Testbed) {
diff --git a/testbed3d/src/demos/heightfield.ts b/testbed3d/src/demos/heightfield.ts
index 5a2feec..1ac6320 100644
--- a/testbed3d/src/demos/heightfield.ts
+++ b/testbed3d/src/demos/heightfield.ts
@@ -1,5 +1,5 @@
 import seedrandom from "seedrandom";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/joints.ts b/testbed3d/src/demos/joints.ts
index 56546d7..32b4219 100644
--- a/testbed3d/src/demos/joints.ts
+++ b/testbed3d/src/demos/joints.ts
@@ -1,5 +1,5 @@
 import type RAPIER from "@dimforge/rapier3d";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/keva.ts b/testbed3d/src/demos/keva.ts
index d4e27cb..3c92ef5 100644
--- a/testbed3d/src/demos/keva.ts
+++ b/testbed3d/src/demos/keva.ts
@@ -1,5 +1,5 @@
 import type RAPIER from "@dimforge/rapier3d";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/lockedRotations.ts b/testbed3d/src/demos/lockedRotations.ts
index e3b4c53..5d2b4bd 100644
--- a/testbed3d/src/demos/lockedRotations.ts
+++ b/testbed3d/src/demos/lockedRotations.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/pidController.ts b/testbed3d/src/demos/pidController.ts
index ea3e128..2518a74 100644
--- a/testbed3d/src/demos/pidController.ts
+++ b/testbed3d/src/demos/pidController.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/platform.ts b/testbed3d/src/demos/platform.ts
index fe51d9a..cfd7192 100644
--- a/testbed3d/src/demos/platform.ts
+++ b/testbed3d/src/demos/platform.ts
@@ -1,5 +1,5 @@
 import seedrandom from "seedrandom";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/pyramid.ts b/testbed3d/src/demos/pyramid.ts
index 9a63e47..0ef2ce9 100644
--- a/testbed3d/src/demos/pyramid.ts
+++ b/testbed3d/src/demos/pyramid.ts
@@ -1,4 +1,4 @@
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/trimesh.ts b/testbed3d/src/demos/trimesh.ts
index 5a50bd3..d9c706f 100644
--- a/testbed3d/src/demos/trimesh.ts
+++ b/testbed3d/src/demos/trimesh.ts
@@ -1,5 +1,5 @@
 import seedrandom from "seedrandom";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/demos/voxels.ts b/testbed3d/src/demos/voxels.ts
index 936b873..d10c1cb 100644
--- a/testbed3d/src/demos/voxels.ts
+++ b/testbed3d/src/demos/voxels.ts
@@ -1,5 +1,5 @@
 import seedrandom from "seedrandom";
-import type {Testbed} from "../Testbed";
+import type {Testbed} from "../Testbed.js";
 
 type RAPIER_API = typeof import("@dimforge/rapier3d");
 
diff --git a/testbed3d/src/index.ts b/testbed3d/src/index.ts
index accfad5..de679ff 100644
--- a/testbed3d/src/index.ts
+++ b/testbed3d/src/index.ts
@@ -1,21 +1,21 @@
-import {Testbed} from "./Testbed";
-import * as Trimesh from "./demos/trimesh";
-import * as Voxels from "./demos/voxels";
-import * as CollisionGroups from "./demos/collisionGroups";
-import * as Pyramid from "./demos/pyramid";
-import * as Keva from "./demos/keva";
-import * as Joints from "./demos/joints";
-import * as Fountain from "./demos/fountain";
-import * as Damping from "./demos/damping";
-import * as Heightfield from "./demos/heightfield";
-import * as LockedRotations from "./demos/lockedRotations";
-import * as ConvexPolyhedron from "./demos/convexPolyhedron";
-import * as CCD from "./demos/ccd";
-import * as Platform from "./demos/platform";
-import * as CharacterController from "./demos/characterController";
-import * as PidController from "./demos/pidController";
-import * as glbToTrimesh from "./demos/glbToTrimesh";
-import * as glbToConvexHull from "./demos/glbtoConvexHull";
+import {Testbed} from "./Testbed.js";
+import * as Trimesh from "./demos/trimesh.js";
+import * as Voxels from "./demos/voxels.js";
+import * as CollisionGroups from "./demos/collisionGroups.js";
+import * as Pyramid from "./demos/pyramid.js";
+import * as Keva from "./demos/keva.js";
+import * as Joints from "./demos/joints.js";
+import * as Fountain from "./demos/fountain.js";
+import * as Damping from "./demos/damping.js";
+import * as Heightfield from "./demos/heightfield.js";
+import * as LockedRotations from "./demos/lockedRotations.js";
+import * as ConvexPolyhedron from "./demos/convexPolyhedron.js";
+import * as CCD from "./demos/ccd.js";
+import * as Platform from "./demos/platform.js";
+import * as CharacterController from "./demos/characterController.js";
+import * as PidController from "./demos/pidController.js";
+import * as glbToTrimesh from "./demos/glbToTrimesh.js";
+import * as glbToConvexHull from "./demos/glbtoConvexHull.js";
 
 import("@dimforge/rapier3d").then((RAPIER) => {
     let builders = new Map([