diff options
99 files changed, 3757 insertions, 1105 deletions
diff --git a/.github/workflows/rapier-ci-bench.yml b/.github/workflows/rapier-ci-bench.yml index 9cce1b2..6c4f007 100644 --- a/.github/workflows/rapier-ci-bench.yml +++ b/.github/workflows/rapier-ci-bench.yml @@ -18,15 +18,17 @@ jobs: BENCHBOT_TARGET_COMMIT: ${{ github.event.pull_request.head.sha }} BENCHBOT_SHA: ${{ github.sha }} BENCHBOT_HEAD_REF: ${{github.head_ref}} + BENCHBOT_OTHER_BACKENDS: false runs-on: ubuntu-latest steps: - name: Find commit SHA if: github.ref == 'refs/heads/master' run: | echo "::set-env name=BENCHBOT_TARGET_COMMIT::$BENCHBOT_SHA" + echo "::set-env name=BENCHBOT_OTHER_BACKENDS::true" - name: Send 3D bench message shell: bash run: curl -u $BENCHBOT_AMQP_USER:$BENCHBOT_AMQP_PASS -i -H "content-type:application/json" -X POST https://$BENCHBOT_AMQP_HOST/api/exchanges/$BENCHBOT_AMQP_VHOST//publish - -d'{"properties":{},"routing_key":"benchmark","payload":"{ \"repository\":\"https://github.com/'$BENCHBOT_TARGET_REPO'\", \"branch\":\"'$GITHUB_REF'\", \"commit\":\"'$BENCHBOT_TARGET_COMMIT'\" }","payload_encoding":"string"}'
\ No newline at end of file + -d'{"properties":{},"routing_key":"benchmark","payload":"{ \"repository\":\"https://github.com/'$BENCHBOT_TARGET_REPO'\", \"branch\":\"'$GITHUB_REF'\", \"commit\":\"'$BENCHBOT_TARGET_COMMIT'\", \"other_backends\":'$BENCHBOT_OTHER_BACKENDS' }","payload_encoding":"string"}'
\ No newline at end of file @@ -1,4 +1,33 @@ -## v0.2.0 - WIP +## v0.3.2 +- Add linear and angular damping. The damping factor can be set with `RigidBodyBuilder::linear_damping` and + `RigidBodyBuilder::angular_damping`. +- Implement `Clone` for almost everything that can be worth cloning. +- Allow setting the initial mass and mass properties of a rigid-bodies using `RigidBodyBuilder::mass` and + `RigidBodyBuilder::mass_properties`. +- The restitution coefficient of colliders is now taken into account by the physics solver. + +## v0.3.1 +- Fix non-determinism problem when using triangle-meshes, cone, cylinders, or capsules. +- Add `JointSet::remove(...)` to remove a joint from the `JointSet`. + +## v0.3.0 +- Collider shapes are now trait-objects instead of a `Shape` enum. +- Add a user-defined `u128` to each colliders and rigid-bodies for storing user data. +- Add the support for `Cylinder`, `RoundCylinder`, and `Cone` shapes. +- Added the support for collision filtering based on bit masks (often known as collision groups, collision masks, or + collision layers in other physics engines). Each collider has two groups. Their `collision_groups` is used for filtering + what pair of colliders should have their contacts computed by the narrow-phase. Their `solver_groups` is used for filtering + what pair of colliders should have their contact forces computed by the constraints solver. +- Collision groups can also be used to filter what collider should be hit by a ray-cast performed by the `QueryPipeline`. +- Added collision filters based on user-defined trait-objects. This adds two traits `ContactPairFilter` and + `ProximityPairFilter` that allows user-defined logic for determining if two colliders/sensors are allowed to interact. +- The `PhysicsPipeline::step` method now takes two additional arguments: the optional `&ContactPairFilter` and `&ProximityPairFilter` +for filtering contact and proximity pairs. + +## v0.2.1 +- Fix panic in TriMesh construction and QueryPipeline update caused by a stack overflow or a subtraction underflow. + +## v0.2.0 The most significant change on this version is the addition of the `QueryPipeline` responsible for performing scene-wide queries. So far only ray-casting has been implemented. @@ -5,6 +5,11 @@ members = [ "build/rapier2d", "build/rapier_testbed2d", "examples2d", "benchmark [patch.crates-io] #wrapped2d = { git = "https://github.com/Bastacyclop/rust_box2d.git" } #simba = { path = "../simba" } +#ncollide2d = { path = "../ncollide/build/ncollide2d" } +#ncollide3d = { path = "../ncollide/build/ncollide3d" } +#nphysics2d = { path = "../nphysics/build/nphysics2d" } +#nphysics3d = { path = "../nphysics/build/nphysics3d" } +#kiss3d = { path = "../kiss3d" } [profile.release] #debug = true diff --git a/benchmarks2d/Cargo.toml b/benchmarks2d/Cargo.toml index b1ee8db..90a6326 100644 --- a/benchmarks2d/Cargo.toml +++ b/benchmarks2d/Cargo.toml @@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ] [dependencies] rand = "0.7" Inflector = "0.11" -nalgebra = "0.22" +nalgebra = "0.23" [dependencies.rapier_testbed2d] path = "../build/rapier_testbed2d" diff --git a/benchmarks3d/Cargo.toml b/benchmarks3d/Cargo.toml index 81c843a..03194df 100644 --- a/benchmarks3d/Cargo.toml +++ b/benchmarks3d/Cargo.toml @@ -14,7 +14,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ] [dependencies] rand = "0.7" Inflector = "0.11" -nalgebra = "0.22" +nalgebra = "0.23" [dependencies.rapier_testbed3d] path = "../build/rapier_testbed3d" diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml index ff5253b..1c24a5d 100644 --- a/build/rapier2d/Cargo.toml +++ b/build/rapier2d/Cargo.toml @@ -1,7 +1,6 @@ -# Name idea: bident for 2D and trident for 3D [package] name = "rapier2d" -version = "0.2.0" +version = "0.3.2" authors = [ "Sébastien Crozet <developer@crozet.re>" ] description = "2-dimensional physics engine in Rust." documentation = "http://docs.rs/rapier2d" @@ -22,7 +21,7 @@ simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ] # enabled with the "simd-stable" or "simd-nightly" feature. simd-is-enabled = [ ] wasm-bindgen = [ "instant/wasm-bindgen" ] -serde-serialize = [ "nalgebra/serde-serialize", "ncollide2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ] +serde-serialize = [ "erased-serde", "nalgebra/serde-serialize", "ncollide2d/serde-serialize", "serde", "generational-arena/serde", "bit-vec/serde", "arrayvec/serde" ] enhanced-determinism = [ "simba/libm_force", "indexmap" ] [lib] @@ -35,18 +34,22 @@ required-features = [ "dim2" ] vec_map = "0.8" instant = { version = "0.1", features = [ "now" ]} num-traits = "0.2" -nalgebra = |