Release v0.6.0

12 files changed, 69 insertions, 49 deletions

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 65934c5..d59855e 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,23 @@
+## v0.6.0
+### Added
+The support of **dominance groups** have been added. Each rigid-body is part of a dominance group in [-127; 127]
+(the default is 0). If two rigid-body are in contact, the one with the highest dominance will act as if it has
+an infinite mass, making it immune to the forces the other body would apply on it. See [#122](https://github.com/dimforge/rapier/pull/122)
+for further details.
+
+The support for **contact modification** has been added. This can bee used to simulate conveyor belts,
+one-way platforms and other non-physical effects. It can also be used to simulate materials with
+variable friction and restitution coefficient on a single collider. See [#120](https://github.com/dimforge/rapier/pull/120)
+for further details.
+
+The support for **joint motors** have been added. This can be used to control the position and/or
+velocity of a joint based on a spring-like equation. See [#119](https://github.com/dimforge/rapier/pull/119)
+for further details.
+
+### Removed
+- The `ContactPairFilter` and `IntersectionPairFilter` traits have been removed. They are both
+  combined in a single new trait: `PhysicsHooks`.
+
 ## v0.5.0
 In this release we are dropping `ncollide` and use our new crate [`parry`](https://parry.rs)
 instead! This comes with a lot of new features, as well as two new crates: `rapier2d-f64` and
diff --git a/Cargo.toml b/Cargo.toml
index 0b0cdd2..b6ae4da 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -18,11 +18,11 @@ members = [ "build/rapier2d", "build/rapier2d-f64", "build/rapier_testbed2d", "e
 #nalgebra = { path = "../nalgebra" }
 
 #kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
-nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
-parry2d = { git = "https://github.com/dimforge/parry" }
-parry3d = { git = "https://github.com/dimforge/parry" }
-parry2d-f64 = { git = "https://github.com/dimforge/parry" }
-parry3d-f64 = { git = "https://github.com/dimforge/parry" }
+#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
+#parry2d = { git = "https://github.com/dimforge/parry" }
+#parry3d = { git = "https://github.com/dimforge/parry" }
+#parry2d-f64 = { git = "https://github.com/dimforge/parry" }
+#parry3d-f64 = { git = "https://github.com/dimforge/parry" }
 #ncollide2d = { git = "https://github.com/dimforge/ncollide" }
 #ncollide3d = { git = "https://github.com/dimforge/ncollide" }
 #nphysics2d = { git = "https://github.com/dimforge/nphysics" }
diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml
index 21169bb..e5c1959 100644
--- a/benchmarks2d/Cargo.toml
+++ b/benchmarks2d/Cargo.toml
@@ -12,9 +12,9 @@ other-backends = [ "rapier_testbed2d/other-backends" ]
 enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 
 [dependencies]
-rand       = "0.7"
+rand       = "0.8"
 Inflector  = "0.11"
-nalgebra   = "0.24"
+nalgebra   = "0.25"
 
 [dependencies.rapier_testbed2d]
 path = "../build/rapier_testbed2d"
diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml
index 16399c9..8fafea0 100644
--- a/benchmarks3d/Cargo.toml
+++ b/benchmarks3d/Cargo.toml
@@ -12,9 +12,9 @@ other-backends = [ "rapier_testbed3d/other-backends" ]
 enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 
 [dependencies]
-rand       = "0.7"
+rand       = "0.8"
 Inflector  = "0.11"
-nalgebra   = "0.24"
+nalgebra   = "0.25"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"
diff --git a/build/rapier2d-f64/Cargo.toml b/build/rapier2d-f64/Cargo.toml
index 23aa6a5..43d7cc0 100644
--- a/build/rapier2d-f64/Cargo.toml
+++ b/build/rapier2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d-f64"
-version = "0.5.0"
+version = "0.6.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier2d"
@@ -39,9 +39,9 @@ required-features = [ "dim2", "f64" ]
 vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.24"
-parry2d-f64 = "0.1"
-simba = "0.3"
+nalgebra = "0.25"
+parry2d-f64 = "0.2"
+simba = "0.4"
 approx = "0.4"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml
index 0009ae5..3dd70c6 100644
--- a/build/rapier2d/Cargo.toml
+++ b/build/rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d"
-version = "0.5.0"
+version = "0.6.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier2d"
@@ -39,9 +39,9 @@ required-features = [ "dim2", "f32" ]
 vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.24"
-parry2d = "0.1"
-simba = "0.3"
+nalgebra = "0.25"
+parry2d = "0.2"
+simba = "0.4"
 approx = "0.4"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
diff --git a/build/rapier3d-f64/Cargo.toml b/build/rapier3d-f64/Cargo.toml
index 040d173..244c9be 100644
--- a/build/rapier3d-f64/Cargo.toml
+++ b/build/rapier3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d-f64"
-version = "0.5.0"
+version = "0.6.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier3d"
@@ -39,9 +39,9 @@ required-features = [ "dim3", "f64" ]
 vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.24"
-parry3d-f64 = "0.1"
-simba = "0.3"
+nalgebra = "0.25"
+parry3d-f64 = "0.2"
+simba = "0.4"
 approx = "0.4"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml
index 3dc7bea..d17fea3 100644
--- a/build/rapier3d/Cargo.toml
+++ b/build/rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d"
-version = "0.5.0"
+version = "0.6.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier3d"
@@ -39,9 +39,9 @@ required-features = [ "dim3", "f32" ]
 vec_map = "0.8"
 instant = { version = "0.1", features = [ "now" ]}
 num-traits = "0.2"
-nalgebra = "0.24"
-parry3d = "0.1"
-simba = "0.3"
+nalgebra = "0.25"
+parry3d = "0.2"
+simba = "0.4"
 approx = "0.4"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"
diff --git a/build/rapier_testbed2d/Cargo.toml b/build/rapier_testbed2d/Cargo.toml
index b1693ee..1ab55ae 100644
--- a/build/rapier_testbed2d/Cargo.toml
+++ b/build/rapier_testbed2d/Cargo.toml
@@ -26,17 +26,17 @@ other-backends = [ "wrapped2d", "nphysics2d" ]
 
 
 [dependencies]
-nalgebra   = "0.24"
-kiss3d     = { version = "0.29", features = [ "conrod" ] }
-rand       = "0.7"
-rand_pcg   = "0.2"
+nalgebra   = "0.25"
+kiss3d     = { version = "0.30", features = [ "conrod" ] }
+rand       = "0.8"
+rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
 num_cpus   = { version = "1", optional = true }
 wrapped2d  = { version = "0.4", optional = true }
-parry2d = "0.1"
-ncollide2d = "0.27"
-nphysics2d = { version = "0.19", optional = true }
+parry2d = "0.2"
+ncollide2d = "0.28"
+nphysics2d = { version = "0.20", optional = true }
 crossbeam = "0.8"
 bincode = "1"
 Inflector  = "0.11"
@@ -44,5 +44,5 @@ md5 = "0.7"
 
 [dependencies.rapier2d]
 path = "../rapier2d"
-version = "0.5"
+version = "0.6"
 features = [ "serde-serialize" ]
diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
index 5839f17..3ac4eff 100644
--- a/build/rapier_testbed3d/Cargo.toml
+++ b/build/rapier_testbed3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed3d"
-version = "0.5.0"
+version = "0.6.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -25,18 +25,18 @@ parallel = [ "rapier3d/parallel", "num_cpus" ]
 other-backends = [ "physx", "physx-sys", "glam", "nphysics3d" ]
 
 [dependencies]
-nalgebra   = "0.24"
-kiss3d     = { version = "0.29", features = [ "conrod" ] }
-rand       = "0.7"
-rand_pcg   = "0.2"
+nalgebra   = "0.25"
+kiss3d     = { version = "0.30", features = [ "conrod" ] }
+rand       = "0.8"
+rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
-glam       = { version = "0.11", optional = true }
+glam       = { version = "0.12", optional = true }
 num_cpus   = { version = "1", optional = true }
-parry3d = "0.1"
-ncollide3d = "0.27"
-nphysics3d = { version = "0.19", optional = true }
-physx      = { version = "0.10", optional = true }
+parry3d = "0.2"
+ncollide3d = "0.28"
+nphysics3d = { version = "0.20", optional = true }
+physx      = { version = "0.11", optional = true }
 physx-sys = { version = "0.4", optional = true }
 crossbeam = "0.8"
 bincode = "1"
@@ -47,5 +47,5 @@ serde = { version = "1", features = [ "derive" ] }
 
 [dependencies.rapier3d]
 path = "../rapier3d"
-version = "0.5"
+version = "0.6"
 features = [ "serde-serialize" ]
diff --git a/examples2d/Cargo.toml b/examples2d/Cargo.toml
index 34deb12..48f5a65 100644
--- a/examples2d/Cargo.toml
+++ b/examples2d/Cargo.toml
@@ -12,9 +12,9 @@ other-backends = [ "rapier_testbed2d/other-backends" ]
 enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 
 [dependencies]
-rand       = "0.7"
+rand       = "0.8"
 Inflector  = "0.11"
-nalgebra   = "0.24"
+nalgebra   = "0.25"
 lyon       = "0.17"
 usvg       = "0.13"
 
diff --git a/examples3d/Cargo.toml b/examples3d/Cargo.toml
index 3f1d3f0..b27b97c 100644
--- a/examples3d/Cargo.toml
+++ b/examples3d/Cargo.toml
@@ -12,10 +12,10 @@ other-backends = [ "rapier_testbed3d/other-backends" ]
 enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 
 [dependencies]
-rand       = "0.7"
+rand       = "0.8"
 Inflector  = "0.11"
-nalgebra   = "0.24"
-kiss3d     = "0.29"
+nalgebra   = "0.25"
+kiss3d     = "0.30"
 
 [dependencies.rapier_testbed3d]
 path = "../build/rapier_testbed3d"