Release v0.12.0-alpha.0

8 files changed, 39 insertions, 11 deletions

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 7539bb7..f2977ff 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,3 +1,23 @@
+## v0.12.0-alpha.0 (2 Jan. 2020)
+### Fixed
+- Fixed `RigidBody::restrict_rotations` to properly take into account the axes to lock.
+- 
+### Modified
+- All the impulse-based joints have been replaced by a single generic 6-Dofs joint in 3D
+  (or 3-Dofs joint in 2D) named `ImpulseJoint`. The `RevoluteJoint, PrismaticJoint, FixedJoint`,
+  and `SphericalJoint` (formely named `BallJoint`) structures still exist but are just convenient
+  ways to initialize the generic `ImpulseJoint`.
+- Our constraints solver has been modified. Before we used one velocity-based resolution followed
+  by one position-based resolution. We are now using two velocity-based resolution: the first one
+  includes constraints regularization whereas the second one doesn’t. This simplifies the resolution
+  code significantly while offering stiffer results.
+- 
+
+### Added
+- Added multibody joints: joints based on the reduced-coordinates modeling. These joints can’t 
+  violate their positional constraint.
+- Implement `Default` for most of the struct that supports it.
+
 ## v0.11.1
 ### Fixed
 - Fix a bug causing large moving colliders to miss some collisions after some time.
diff --git a/README.md b/README.md
index 79606fa..80df0fb 100644
--- a/README.md
+++ b/README.md
@@ -65,10 +65,18 @@ and our [Contribution Guidelines](CONTRIBUTING.md) before contributing or partic
 discussions with the community.
 
 
-## Platinum sponsors
-Rapier is supported by:
+## Acknowledgements
+Parry is supported by our **platinum** sponsors:
 <p>
   <a href="https://embark-studios.com">
-    <img src="https://www.embark.dev/img/logo_black.png" width="400px">
+    <img src="https://www.embark.dev/img/logo_black.png" width="301px">
   </a>
 </p>
+
+And our gold sponsors:
+
+<p>
+  <a href="https://fragcolor.com">
+    <img src="https://dimforge.com/img/fragcolor_logo1_color_black.svg" width="151px">
+  </a>
+</p>
\ No newline at end of file
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index 525e620..fae71ce 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d-f64"
-version = "0.11.1"
+version = "0.12.0-alpha.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 64985d6..f1b090e 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d"
-version = "0.11.1"
+version = "0.12.0-alpha.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 77cf8d4..e99edbc 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d-f64"
-version = "0.11.1"
+version = "0.12.0-alpha.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 75ca2ba..1c664d8 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d"
-version = "0.11.1"
+version = "0.12.0-alpha.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/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index ea5db88..291ca2b 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed2d"
-version = "0.11.0"
+version = "0.12.0-alpha.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -52,5 +52,5 @@ bevy_webgl2 = "0.5"
 
 [dependencies.rapier2d]
 path = "../rapier2d"
-version = "0.11"
+version = "0.12.0-alpha.0"
 features = [ "serde-serialize" ]
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index 8a8a1e4..bc60567 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed3d"
-version = "0.11.0"
+version = "0.12.0-alpha.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -54,5 +54,5 @@ bevy_webgl2 = "0.5"
 
 [dependencies.rapier3d]
 path = "../rapier3d"
-version = "0.11"
+version = "0.12.0-alpha.0"
 features = [ "serde-serialize" ]
\ No newline at end of file