Release v0.9.0v0.9.0

10 files changed, 38 insertions, 24 deletions

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 52f5a35..20c92d4 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -9,6 +9,9 @@ The user-guide has been fully rewritten and is now exhaustive! Check it out on [
 - Add `RigidBody::set_next_rotation` for setting the next rotation of a position-based kinematic body.
 - Add kinematic bodies controlled at the velocity level: use `RigidBodyBuilder::new_kinematic_velocity_based` or
   `RigidBodyType::KinematicVelocityBased`.
+- Add the cargo feature `debug-disable-legitimate-fe-exceptions` that can be enabled for debugging purpose. This will
+  disable floating point exceptions whenever they happen at places where we do expect them to happen (for example
+  some SIMD code do generate NaNs which are filtered out by lane-wise selection).
 
 ### Modified
 The use of `RigidBodySet, ColliderSet, RigidBody, Collider` is no longer mandatory. Rigid-bodies and colliders have
diff --git a/build/rapier2d-f64/Cargo.toml b/build/rapier2d-f64/Cargo.toml
index 8321ea7..16bf597 100644
--- a/build/rapier2d-f64/Cargo.toml
+++ b/build/rapier2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d-f64"
-version = "0.8.0"
+version = "0.9.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier2d"
@@ -20,7 +20,6 @@ default = [ "dim2", "f64", "default-sets" ]
 dim2    = [ ]
 f64     = [ ]
 default-sets = [ ]
-avoid-fe-exceptions = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
@@ -31,6 +30,9 @@ wasm-bindgen = [ "instant/wasm-bindgen" ]
 serde-serialize = [ "nalgebra/serde-serialize", "parry2d-f64/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "parry2d-f64/enhanced-determinism", "indexmap" ]
 
+# Feature used for debugging only.
+debug-disable-legitimate-fe-exceptions = [ ]
+
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
 dev-remove-slow-accessors = []
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml
index 394d31a..99229cf 100644
--- a/build/rapier2d/Cargo.toml
+++ b/build/rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d"
-version = "0.8.0"
+version = "0.9.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier2d"
@@ -20,7 +20,6 @@ default = [ "dim2", "f32", "default-sets" ]
 dim2    = [ ]
 f32     = [ ]
 default-sets = [ ]
-avoid-fe-exceptions = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
@@ -31,6 +30,9 @@ wasm-bindgen = [ "instant/wasm-bindgen" ]
 serde-serialize = [ "nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "parry2d/enhanced-determinism", "indexmap" ]
 
+# Feature used for debugging only.
+debug-disable-legitimate-fe-exceptions = [ ]
+
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
 dev-remove-slow-accessors = []
diff --git a/build/rapier3d-f64/Cargo.toml b/build/rapier3d-f64/Cargo.toml
index 9b2f1ca..2653154 100644
--- a/build/rapier3d-f64/Cargo.toml
+++ b/build/rapier3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d-f64"
-version = "0.8.0"
+version = "0.9.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier3d"
@@ -20,7 +20,6 @@ default = [ "dim3", "f64", "default-sets" ]
 dim3    = [ ]
 f64     = [ ]
 default-sets = [ ]
-avoid-fe-exceptions = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "parry3d-f64/simd-stable", "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "parry3d-f64/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
@@ -31,6 +30,9 @@ wasm-bindgen = [ "instant/wasm-bindgen" ]
 serde-serialize = [ "nalgebra/serde-serialize", "parry3d-f64/serde-serialize", "serde", "bit-vec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "parry3d-f64/enhanced-determinism" ]
 
+# Feature used for debugging only.
+debug-disable-legitimate-fe-exceptions = [ ]
+
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
 dev-remove-slow-accessors = []
diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml
index da6b40b..5f4c94b 100644
--- a/build/rapier3d/Cargo.toml
+++ b/build/rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d"
-version = "0.8.0"
+version = "0.9.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier3d"
@@ -20,7 +20,6 @@ default = [ "dim3", "f32", "default-sets" ]
 dim3    = [ ]
 f32     = [ ]
 default-sets = [ ]
-avoid-fe-exceptions = [ ]
 parallel = [ "rayon" ]
 simd-stable = [ "parry3d/simd-stable", "simba/wide", "simd-is-enabled" ]
 simd-nightly = [ "parry3d/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
@@ -31,6 +30,9 @@ wasm-bindgen = [ "instant/wasm-bindgen" ]
 serde-serialize = [ "nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde" ]
 enhanced-determinism = [ "simba/libm_force", "parry3d/enhanced-determinism" ]
 
+# Feature used for debugging only.
+debug-disable-legitimate-fe-exceptions = [ ]
+
 # Feature used for development and debugging only.
 # Do not enable this unless you are working on the engine internals.
 dev-remove-slow-accessors = []
diff --git a/build/rapier_testbed2d/Cargo.toml b/build/rapier_testbed2d/Cargo.toml
index 67fb07b..f038bff 100644
--- a/build/rapier_testbed2d/Cargo.toml
+++ b/build/rapier_testbed2d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed2d"
-version = "0.8.0"
+version = "0.9.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -54,5 +54,5 @@ bevy_webgl2 = "0.5"
 
 [dependencies.rapier2d]
 path = "../rapier2d"
-version = "0.8"
+version = "0.9"
 features = [ "serde-serialize" ]
diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
index 2dfdad7..600a341 100644
--- a/build/rapier_testbed3d/Cargo.toml
+++ b/build/rapier_testbed3d/Cargo.toml
@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed3d"
-version = "0.8.0"
+version = "0.9.0"
 authors = [ "Sébastien Crozet <developer@crozet.re>" ]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -56,5 +56,5 @@ bevy_webgl2 = "0.5"
 
 [dependencies.rapier3d]
 path = "../rapier3d"
-version = "0.8"
+version = "0.9"
 features = [ "serde-serialize" ]
\ No newline at end of file
diff --git a/examples2d/Cargo.toml b/examples2d/Cargo.toml
index 6ade796..f8a29bf 100644
--- a/examples2d/Cargo.toml
+++ b/examples2d/Cargo.toml
@@ -17,7 +17,7 @@ rand       = "0.8"
 Inflector  = "0.11"
 nalgebra   = "0.27"
 lyon       = "0.17"
-usvg       = "0.13"
+usvg       = "0.14"
 
 [dependencies.rapier_testbed2d]
 path = "../build/rapier_testbed2d"
diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs
index 44295c4..2b82cc4 100644
--- a/src/geometry/collider.rs
+++ b/src/geometry/collider.rs
@@ -248,7 +248,7 @@ impl Collider {
 
     /// Retrieve the SharedShape. Also see the `shape()` function
     pub fn shared_shape(&self) -> &SharedShape {
-        &self.shape
+        &self.co_shape
     }
 
     /// Compute the axis-aligned bounding box of this collider.
diff --git a/src/utils.rs b/src/utils.rs
index 84ed250..f0811d6 100644
--- a/src/utils.rs
+++ b/src/utils.rs
@@ -670,13 +670,13 @@ impl Drop for FlushToZeroDenormalsAreZeroFlags {
     }
 }
 
-// This is an RAII structure that disables floating point exceptions while
-// it is alive, so that operations which generate NaNs and infinite values
-// intentionally will not trip an exception when debugging problematic
-// code that is generating NaNs and infinite values erroneously.
+/// This is an RAII structure that disables floating point exceptions while
+/// it is alive, so that operations which generate NaNs and infinite values
+/// intentionally will not trip an exception when debugging problematic
+/// code that is generating NaNs and infinite values erroneously.
 #[derive(Clone, Debug, PartialEq, Eq)]
 pub(crate) struct DisableFloatingPointExceptionsFlags {
-    #[cfg(feature = "avoid-fe-exceptions")]
+    #[cfg(feature = "debug-disable-legitimate-fe-exceptions")]
     // We can't get a precise size for this, because it's of type
     // `fenv_t`, which is a definition that doesn't exist in rust
     // (not even in the libc crate, as of the time of writing.)
@@ -685,19 +685,22 @@ pub(crate) struct DisableFloatingPointExceptionsFlags {
     original_flags: [u8; 256],
 }
 
-#[cfg(feature = "avoid-fe-exceptions")]
+#[cfg(feature = "debug-disable-legitimate-fe-exceptions")]
 extern "C" {
     fn feholdexcept(env: *mut std::ffi::c_void);
     fn fesetenv(env: *const std::ffi::c_void);
 }
 
 impl DisableFloatingPointExceptionsFlags {
-    #[cfg(not(feature = "avoid-fe-exceptions"))]
+    #[cfg(not(feature = "debug-disable-legitimate-fe-exceptions"))]
+    #[allow(dead_code)]
+    /// Disables floating point exceptions as long as this object is not dropped.
     pub fn disable_floating_point_exceptions() -> Self {
-        Self { }
+        Self {}
     }
 
-    #[cfg(feature = "avoid-fe-exceptions")]
+    #[cfg(feature = "debug-disable-legitimate-fe-exceptions")]
+    /// Disables floating point exceptions as long as this object is not dropped.
     pub fn disable_floating_point_exceptions() -> Self {
         unsafe {
             let mut original_flags = [0; 256];
@@ -707,7 +710,7 @@ impl DisableFloatingPointExceptionsFlags {
     }
 }
 
-#[cfg(feature = "avoid-fe-exceptions")]
+#[cfg(feature = "debug-disable-legitimate-fe-exceptions")]
 impl Drop for DisableFloatingPointExceptionsFlags {
     fn drop(&mut self) {
         unsafe {