Merge branch 'master' into collider-builder-debug

116 files changed, 5376 insertions, 1619 deletions

diff --git a/.github/workflows/rapier-ci-build.yml b/.github/workflows/rapier-ci-build.yml
index 1b29d15..c38a1a5 100644
--- a/.github/workflows/rapier-ci-build.yml
+++ b/.github/workflows/rapier-ci-build.yml
@@ -13,7 +13,7 @@ jobs:
   check-fmt:
     runs-on: ubuntu-latest
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - name: Check formatting
       run: cargo fmt -- --check
   build-native:
@@ -21,7 +21,7 @@ jobs:
     env:
       RUSTFLAGS: -D warnings
     steps:
-    - uses: actions/checkout@v3
+    - uses: actions/checkout@v4
     - run: sudo apt-get install -y cmake libxcb-composite0-dev
     - name: Clippy
       run: cargo clippy
@@ -60,7 +60,7 @@ jobs:
     env:
       RUSTFLAGS: -D warnings
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - run: rustup target add wasm32-unknown-unknown
       - name: build rapier2d
         run: cd crates/rapier2d && cargo build --verbose --features wasm-bindgen --target wasm32-unknown-unknown;
@@ -71,7 +71,7 @@ jobs:
     env:
       RUSTFLAGS: -D warnings
     steps:
-      - uses: actions/checkout@v3
+      - uses: actions/checkout@v4
       - run: rustup target add wasm32-unknown-emscripten
       - name: build rapier2d
         run: cd crates/rapier2d && cargo build --verbose --target wasm32-unknown-emscripten;
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 9f57869..f9ec4d1 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,8 +1,96 @@
+## Unreleased
+
+### Added
+
+- Add `Multibody::inverse_kinematics`, `Multibody::inverse_kinematics_delta`,
+  and `::inverse_kinematics_delta_with_jacobian`
+  for running inverse kinematics on a multibody to align one its links pose to the given prescribed pose.
+- Add `InverseKinematicsOption` to customize some behaviors of the inverse-kinematics solver.
+- Add `Multibody::body_jacobian` to get the jacobian of a specific link.
+- Add `Multibody::update_rigid_bodies` to update rigid-bodies based on the multibody links poses.
+- Add `Multibody::forward_kinematics_single_link` to run forward-kinematics to compute the new pose and jacobian of a
+  single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are
+  taken into account during transform propagation.
+
+### Modified
+
+- The contact constraints regularization parameters have been changed from `erp/damping_ratio` to
+  `natural_frequency/damping_ratio`. This helps define them in a timestep-length independent way. The new variables
+  are named `IntegrationParameters::contact_natural_frequency` and `IntegrationParameters::contact_damping_ratio`.
+- The `IntegrationParameters::normalized_max_penetration_correction` has been replaced
+  by `::normalized_max_corrective_velocity`
+  to make the parameter more timestep-length independent. It is now set to a non-infinite value to eliminate aggressive
+  "popping effects".
+- The `Multibody::forward_kinematics` method will no longer automatically update the poses of the `RigidBody` associated
+  to each joint. Instead `Multibody::update_rigid_bodies` has to be called explicitly.
+- The `Multibody::forward_kinematics` method will automatically adjust the multibody’s degrees of freedom if the root
+  rigid-body changed type (between dynamic and non-dynamic). It can also optionally apply the root’s rigid-body pose
+  instead of the root link’s pose (useful for example if you modified the root rigid-body pose externally and wanted
+  to propag