Merge pull request #365 from dimforge/release-0.14v0.14

Release v0.14

11 files changed, 32 insertions, 22 deletions

diff --git a/CHANGELOG.md b/CHANGELOG.md
index cbed88f..0e2ae53 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,4 @@
-## Unreleased
+## v0.14.0 (09 July 2022)
 ### Fixed
 - Fix unpredictable broad-phase panic when using small colliders in the simulation.
 - Fix collision events being incorrectly generated for any shape that produces multiple
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index c5e8c6d..6e8b038 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d-f64"
-version = "0.13.0"
+version = "0.14.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier2d"
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index ac4a32e..329f9eb 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d"
-version = "0.13.0"
+version = "0.14.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier2d"
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index c49d99f..dfca0ef 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d-f64"
-version = "0.13.0"
+version = "0.14.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier3d"
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index c207c9e..efe7e1a 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d"
-version = "0.13.0"
+version = "0.14.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier3d"
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index ccb5f62..55a4a0f 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed2d-f64"
-version = "0.13.0"
+version = "0.14.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -38,7 +38,7 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.13"
+bevy_egui = "0.14"
 bevy_ecs = "0.7"
 #bevy_prototype_debug_lines = "0.7"
 
@@ -54,5 +54,5 @@ bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "re
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.13.0"
+version = "0.14.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index 84fb4f2..f200aa4 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed2d"
-version = "0.13.0"
+version = "0.14.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -38,7 +38,7 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.13"
+bevy_egui = "0.14"
 bevy_ecs = "0.7"
 #bevy_prototype_debug_lines = "0.7"
 
@@ -54,5 +54,5 @@ bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "re
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.13.0"
+version = "0.14.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index 5c8a4fb..d24da9e 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed3d-f64"
-version = "0.13.0"
+version = "0.14.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -36,7 +36,7 @@ md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.13"
+bevy_egui = "0.14"
 bevy_ecs = "0.7"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
@@ -52,5 +52,5 @@ bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "re
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.13.0"
+version = "0.14.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]
\ No newline at end of file
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 1a30083..6893989 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed3d"
-version = "0.13.0"
+version = "0.14.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -32,7 +32,7 @@ instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
 glam       = { version = "0.12", optional = true }
 num_cpus   = { version = "1", optional = true }
-physx      = { version = "0.11", optional = true }
+physx      = { version = "0.12", features = [ "glam" ], optional = true }
 physx-sys = { version = "0.4", optional = true }
 crossbeam = "0.8"
 bincode = "1"
@@ -40,7 +40,7 @@ md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.13"
+bevy_egui = "0.14"
 bevy_ecs = "0.7"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
@@ -56,5 +56,5 @@ bevy = {version = "0.7", default-features = false, features = ["bevy_winit", "re
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.13.0"
+version = "0.14.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]
\ No newline at end of file
diff --git a/src_testbed/box2d_backend.rs b/src_testbed/box2d_backend.rs
index 2a143fb..9cb4b5f 100644
--- a/src_testbed/box2d_backend.rs
+++ b/src_testbed/box2d_backend.rs
@@ -170,7 +170,7 @@ impl Box2dWorld {
 
         fixture_def.restitution = collider.material().restitution;
         fixture_def.friction = collider.material().friction;
-        fixture_def.density = collider.density().unwrap_or(1.0);
+        fixture_def.density = collider.density();
         fixture_def.is_sensor = collider.is_sensor();
         fixture_def.filter = b2::Filter::new();
 
diff --git a/src_testbed/physx_backend.rs b/src_testbed/physx_backend.rs
index 0a839b9..d4b2a75 100644
--- a/src_testbed/physx_backend.rs
+++ b/src_testbed/physx_backend.rs
@@ -78,10 +78,20 @@ impl IntoPhysx for Point3<f32> {
     }
 }
 
+impl IntoPhysx for UnitQuaternion<f32> {
+    type Output = PxQuat;
+    fn into_physx(self) -> Self::Output {
+        PxQuat::new(self.i, self.j, self.k, self.w)
+    }
+}
+
 impl IntoPhysx for Isometry3<f32> {
     type Output = PxTransform;
     fn into_physx(self) -> Self::Output {
-        self.into_glam().into()
+        PxTransform::from_translation_rotation(
+            &self.translation.vector.into_physx(),
+            &self.rotation.into_physx(),
+        )
     }
 }
 
@@ -164,7 +174,7 @@ impl PhysxWorld {
                 gravity: gravity.into_physx(),
                 thread_count: num_threads as u32,
                 broad_phase_type: BroadPhaseType::AutomaticBoxPruning,
-                solver_type: SolverType::PGS,
+                solver_type: SolverType::Pgs,
                 friction_type,
                 ccd_max_passes: integration_parameters.max_ccd_substeps as u32,
                 ..SceneDescriptor::new(())
@@ -361,7 +371,7 @@ impl PhysxWorld {
                     if rb.is_ccd_enabled() {
                         physx_sys::PxRigidBody_setRigidBodyFlag_mut(
                             actor,
-                            RigidBodyFlag::EnableCCD as u32,
+                            RigidBodyFlag::EnableCcd as u32,
                             true,
                         );
                     }