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| author | Sébastien Crozet <sebcrozet@dimforge.com> | 2024-05-26 18:26:56 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2024-06-09 12:09:58 +0200 |
| commit | a8739036c0bda6ed21ffba2f8b49699dfd1adfca (patch) | |
| tree | 32a19af24ff9e0aead04e5e90b251e40d66fe062 | |
| parent | 02cade04408230ef52e8fe34a85be66bcf76dd50 (diff) | |
| download | rapier-a8739036c0bda6ed21ffba2f8b49699dfd1adfca.tar.gz rapier-a8739036c0bda6ed21ffba2f8b49699dfd1adfca.tar.bz2 rapier-a8739036c0bda6ed21ffba2f8b49699dfd1adfca.zip | |
chore: update changelog
| -rw-r--r-- | CHANGELOG.md | 20 |
1 files changed, 20 insertions, 0 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md index 85e8e60..9a60209 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,11 @@ ## Unreleased +This release introduces two new crates: + +- `rapier-urdf` for loading URDF files into rapier3d. This will load the rigid-bodies, + colliders, and joints. +- `rapier-stl` for loading an STL file as a collision shape. + ### Added - Add `Multibody::inverse_kinematics`, `Multibody::inverse_kinematics_delta`, @@ -12,9 +18,17 @@ single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are taken into account during transform propagation. - Implement `Debug` for `ColliderBuilder`. +- Add `Collider::converted_trimesh` and `MeshConverter` for building a collider with a shape computed from a mesh’s + index and vertex buffers. That computed shape can currently be a `TriMesh`, a `Cuboid` (covering the mesh’s AABB or + OBB), a convex hull, or a convex decomposition. +- Implement `Default` for `RigidBodyBuilder`. This is equivalent to `RigidBodyBuilder::dynamic()`. +- Implement `Default` for `ColliderBuilder`. This is equivalent to `ColliderBuilder::ball(0.5)`. ### Modified +- Renamed `JointAxesMask::X/Y/Z` to `::LIN_X/LIN_Y/LIN_Z`; and renamed `JointAxisMask::X/Y/Z` to `::LinX/LinY/LynZ` to + make it clear it is not to be used as angular axes (the angular axis are `JointAxesMask::ANG_X/ANG_Y/AngZ` and + `JointAxisMask::AngX/AngY/AngZ`). - 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`. @@ -30,6 +44,12 @@ to propagate it to the multibody). - Remove an internal special-case for contact constraints on fast contacts. The doesn’t seem necessary with the substep solver. +- Remove `RigidBody::add_collider`. This was an implementation detail previously needed by `bevy_rapier`. To attach + a collider to a rigid-body, use `ColliderSet::insert_with_parent` or `ColliderSet::set_parent`. +- Rename `JointAxis::X/Y/Z` to `::LinX/LinY/LinZ` to avoid confusing it with `::AngX/AngY/AngZ`. +- Rename `JointAxesMask::X/Y/Z` to `::LIN_X/LIN_Y/LIN_Z` to avoid confusing it with `::ANG_X/ANG_Y/ANG_Z`. +- The function `RigidBody::add_collider` is now private. It was only public because it was needed for some internal + `bevy_rapier` plumbings, but it is no longer useful. Adding a collider must always go througthe `ColliderSet`. ## v0.19.0 (05 May 2024) |