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diff --git a/CHANGELOG.md b/CHANGELOG.md index 9f57869..6515925 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,8 +1,16 @@ +## Unreleased + +### Fix + +- Fix crash when simulating a spring joint between two dynamic bodies. + ## v0.18.0 (24 Jan. 2024) + The main highlight of this release is the implementation of a new non-linear constraints solver for better stability and increased convergence rates. See [#579](https://github.com/dimforge/rapier/pull/579) for additional information. -In order to adjust the number of iterations of the new solver, simply adjust `IntegrationParameters::num_solver_iterations`. +In order to adjust the number of iterations of the new solver, simply +adjust `IntegrationParameters::num_solver_iterations`. If recovering the old solver behavior is useful to you, call `IntegrationParameters::switch_to_standard_pgs_solver()`. It is now possible to specify some additional solver iteration for specific rigid-bodies (and everything interacting @@ -11,11 +19,15 @@ with it directly or indirectly through contacts and joints): `RigidBodyBuilder:: without affecting performance of the other parts of the simulation. ### Fix -- Fix bug causing angular joint limits and motor to sometimes only take into account half of the angles specified by the user. + +- Fix bug causing angular joint limits and motor to sometimes only take into account half of the angles specified by the + user. - Fix bug where collisions would not be re-computed after a collider was re-enabled. ### Added -- Add a `SpringJoint` and `SpringJointBuilder` for simulating springs with customizable stiffness and damping coefficients. + +- Add a `SpringJoint` and `SpringJointBuilder` for simulating springs with customizable stiffness and damping + coefficients. - Add `SphericalJoint::local_frame1/2`, `::set_local_frame1/2`, and `SphericalJointBuilder::local_frame1/2` to set both the joint’s anchor and reference orientation. - Add `EffectiveCharacterMovement::is_sliding_down_slope` to indicate if the character controlled by the kinematic @@ -27,6 +39,7 @@ without affecting performance of the other parts of the simulation. - Fix debug-renderer showing moved kinematic rigid-bodies only at their initial position. ### Modified + - Make `Wheel::friction_slip` public to customize the front friction applied to the vehicle controller’s wheels. - Add the `DebugRenderBackend::filter_object` predicate that can be implemented to apply custom filtering rules on the objects being rendered. @@ -35,19 +48,24 @@ without affecting performance of the other parts of the simulation. - Rename `NarrowPhase::intersections_with` to `NarrowPhase::intersection_pairs_with`. ## v0.17.2 (26 Feb. 2023) + ### Fix + - Fix issue with convex polyhedron jitter due to missing contacts. - Fix character controller getting stuck against vertical walls. - Fix character controller’s snapping to ground not triggering sometimes. - Fix character controller’s horizontal offset being mostly ignored and some instances of vertical offset being ignored. ## v0.17.1 (22 Jan. 2023) + ### Fix -- Fix bug resulting in dynamic rigid-bodies acting as kinematic bodies after being disabled and then re-enabled. +- Fix bug resulting in dynamic rigid-bodies acting as kinematic bodies after being disabled and then re-enabled. ## v0.17.0 (15 Jan. 2023) + ### Added + - Add `RigidBody::set_enabled`, `RigidBody::is_enabled`, `RigidBodyBuilder::enabled` to enable/disable a rigid-body without having to delete it. Disabling a rigid-body attached to a multibody joint isn’t supported yet. - Add `Collider::set_enabled`, `Collider::is_enabled`, `ColliderBuilder::enabled` to enable/disable a collider @@ -61,37 +79,48 @@ without affecting performance of the other parts of the simulation. - Add `RigidBody::locked_axes` to get the rigid-body axes that were locked by the user. ### Modified + - Add the `QueryPipeline` as an optional argument to `PhysicsPipeline::step` and `CollisionPipeline::step`. If this - argument is specified, then the query pipeline will be incrementally (i.e. more efficiently) update at the same time as + argument is specified, then the query pipeline will be incrementally (i.e. more efficiently) update at the same time + as these other pipelines. In that case, calling `QueryPipeline::update` a `PhysicsPipeline::step` isn’t needed. - `RigidBody::set_body_type` now takes an extra boolean argument indicating if the rigid-body should be woken-up (if it becomes dynamic). - `RigidBody::mass_properties` now also returns the world-space mass-properties of the rigid-body. ### Fix + - Fix bug resulting in rigid-bodies being awakened after they are created, even if they are created sleeping. ## v0.16.1 (10 Nov. 2022) + ### Fix + - Fixed docs build on `docs.rs`. ## v0.16.0 (30 Oct. 2022) + ### Added + - Implement `Copy` for `CharacterCollision`. - Implement conversion (`From` trait) between `Group` and `u32`. - Add `ColliderBuilder::trimesh_with_flags` to build a triangle mesh with specific flags controlling its initialization. ### Modified + - Rename `AABB` to `Aabb` to comply with Rust’s style guide. - Switch to `parry 0.11`. ### Fix + - Fix internal edges of 3D triangle meshes or 3D heightfields generating invalid contacts preventing balls from moving straight. ## v0.15.0 (02 Oct. 2022) + ### Added + - Add a **kinematic character** controller implementation. See the `control` module. The character controller currently supports the following features: - Slide on uneven terrains @@ -104,8 +133,8 @@ without affecting performance of the other parts of the simulation. - Report information on the obstacles it hit on its path. - Implement `serde` serialization/deserialization for `CollisionEvents` when the `serde-serialize` feature is enabled - ### Modified + - The methods `Collider::set_rotation`, `RigidBody::set_rotation`, and `RigidBody::set_next_kinematic_rotation` now take a rotation (`UnitQuaternion` or `UnitComplex`) instead of a vector/angle. - The method `QueryFilter::exclude_dynamic` is now a static method (the `self` argument was removed). @@ -117,7 +146,9 @@ without affecting performance of the other parts of the simulation. position. ## v0.14.0 (09 July 2022) + ### Fixed + - Fix unpredictable broad-phase panic when using small colliders in the simulation. - Fix collision events being incorrectly generated for any shape that produces multiple contact manifolds (like triangle meshes). @@ -125,6 +156,7 @@ without affecting performance of the other parts of the simulation. to `CollisionPipeline::step`. ### Modified + - The `RigidBodyBuilder::additional_mass` method will now result in the additional angular inertia being automatically computed based on the shapes of the colliders attached to the rigid-body. - Remove the deprecated methods `RigidBodyBuilder::mass`, `::principal_angular_inertia`, `::principal_inertia`. @@ -137,6 +169,7 @@ without affecting performance of the other parts of the simulation. `RigidBodyBuilder::enabled_rotations` and `RigidBodyBuilder::enabled_translations`. ### Added + - Add `RigidBody::recompute_mass_properties_from_colliders` to force the immediate computation of a rigid-body’s mass properties (instead of waiting for them to be recomputed during the next timestep). This is useful to be able to read immediately the result of a change of a rigid-body @@ -149,7 +182,8 @@ without affecting performance of the other parts of the simulation. - Add `ColliderBuilder::mass` to set the mass of the collider instead of its density. Its angular inertia tensor will be automatically computed based on this mass and its shape. - Add `Collider::mass` and `Collider::volume` to retrieve the mass or volume of a collider. -- Add the `QueryFilter` that is now used by all the scene queries instead of the `CollisionGroups` and `Fn(ColliderHandle) -> bool` +- Add the `QueryFilter` that is now used by all the scene queries instead of the `CollisionGroups` + and `Fn(ColliderHandle) -> bool` closure. This `QueryFilter` provides easy access to most common filtering strategies (e.g. dynamic bodies only, excluding one particular collider, etc.) for scene queries. - Add force reporting based on contact force events. The `EventHandler` trait has been modified to include @@ -161,12 +195,15 @@ without affecting performance of the other parts of the simulation. contact force events. ## v0.13.0 (31 May 2022) + ### Fixed + - Fix incorrect sensor events being generated after collider removal. - Fix bug where the CCD thickness wasn’t initialized properly. - Fix bug where the contact compliance would result in undesired tunneling, despite CCD being enabled. ### Modified + - Add a `wake_up: bool` argument to the `ImpulseJointSet::insert` and `MultibodyJointSet::insert` to automatically wake-up the rigid-bodies attached to the inserted joint. - The methods `ImpulseJointSet::remove/remove_joints_attached_to_rigid_body`, @@ -180,11 +217,14 @@ without affecting performance of the other parts of the simulation. by default. ### Added + - Debug-renderer: add rendering of contacts, solver contacts, and collider Aabbs - Add `MultibodyJointSet::attached_joints` to return all the multibody joints attached to a given rigid-body. ## v0.12.0 (30 Apr. 2022) + ### Fixed + - Fix the simulation when the `parallel` feature is enabled. - Fix bug where damping would not be applied properly to some bodies. - Fix panics caused by various situations (contact or joints) involving rigid-bodies with locked translations/rotations. @@ -194,6 +234,7 @@ without affecting performance of the other parts of the simulation. - Fix the broad-phase becoming potentially invalid after a change of collision groups. ### Modified + - Switch to `nalgebra` 0.31. - Switch to `parry` 0.9. - Rename `JointHandle` to `ImpulseJointHandle`. @@ -210,27 +251,30 @@ without affecting performance of the other parts of the simulation. - The `ActiveEvents::CONTACT_EVENTS` and `ActiveEvents::INTERSECTION_EVENTS` flags have been replaced by a single flag `ActiveEvents::COLLISION_EVENTS`. - Joint motors no longer have a `VelocityBased` model. The new choices are `AccelerationBased` and `ForceBased` - which are more stable. + which are more stable. - Calling the `.build()` function from builders (`RigidBodyBuilder`, `ColliderBuilder`, etc.) is no longer necessary - whan adding them to sets. It is automatically called thanks to `Into<_>` implementations. + whan adding them to sets. It is automatically called thanks to `Into<_>` implementations. - The `ComponentSet` abstractions (and related `_generic` methods like `PhysicsPipeline::step_generic`) have been removed. Custom storage for colliders and rigid-bodies are no longer possible: use the built-in `RigidBodySet` and `ColliderSet` instead. ### Semantic modifications + These are changes in the behavior of the physics engine that are not necessarily reflected by an API change. See [#304](https://github.com/dimforge/rapier/pull/304) for extensive details. + - `RigidBody::set_linvel` and `RigidBody::set_angvel` no longer modify the velocity of static bodies. - `RigidBody::set_body_type` will reset the velocity of a rigid-body to zero if it is static. - Don’t automatically clear forces at the end of a timestep. - Don’t reset the velocity of kinematic bodies to zero at the end of the timestep. -- Events `CollisionEvent::Stopped` are now generated after a collider is removed. +- Events `CollisionEvent::Stopped` are now generated after a collider is removed. ### Added + - Significantly improve the API of joints by adding: - * Builders based on the builder pattern. - * Getters and setters for all joints. - * Method to convert a `GenericJoint` to one of the more specific joint type. + * Builders based on the builder pattern. + * Getters and setters for all joints. + * Method to convert a `GenericJoint` to one of the more specific joint type. - Improve stability of joint motors. - Adds a `bool` argument to `RigidBodySet::remove`. If set to `false`, the colliders attached to the rigid-body won’t be automatically deleted (they will only be detached from the deleted rigid-body instead). @@ -240,9 +284,13 @@ reflected by an API change. See [#304](https://github.com/dimforge/rapier/pull/3 renderer to debug the state of the physics engine. ## v0.12.0-alpha.0 (2 Jan. 2022) + ### 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 @@ -253,63 +301,81 @@ reflected by an API change. See [#304](https://github.com/dimforge/rapier/pull/3 code significantly while offering stiffer results. ### Added -- Added multibody joints: joints based on the reduced-coordinates modeling. These joints can’t + +- 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. - Fix invalid forces generated by contacts with position-based kinematic bodies. - Fix a bug where two colliders without parent would not have their collision computed even if the appropriate flags were set. ## v0.11.0 + Check out the user-guide for the JS/Typescript bindings for rapier. It has been fully rewritten and is now exhaustive! Check it out on [rapier.rs](https://www.rapier.rs/docs/user_guides/javascript/getting_started_js) ### Added + - Joint limits are now implemented for all joints that can support them (prismatic, revolute, and ball joints). ### Modified + - Switch to `nalgebra 0.29`. ### Fixed + - Fix the build of Rapier when targeting emscripten. ## v0.10.1 + ### Added -- Add `Collider::set_translation_wrt_parent` to change the translation of a collider with respect to its parent rigid-body. -- Add `Collider::set_rotation_wrt_parent` to change the translation of a collider with respect to its parent rigid-body. +- Add `Collider::set_translation_wrt_parent` to change the translation of a collider with respect to its parent + rigid-body. +- Add `Collider::set_rotation_wrt_parent` to change the translation of a collider with respect to its parent rigid-body. ## v0.10.0 + ### Added + - Implement `Clone` for `IslandManager`. ### Modified + - `JointSet::insert` no longer takes the rigid-body set in its arguments. - Modify the testbed's plugin system to let plugins interact with the rendering. - Implement `PartialEq` for most collider and rigid-body components. ## v0.9.2 + ### Added + - Make the method JointSet::remove_joints_attached_to_rigid_body public so that it can can be called externally for letting component-based Rapier integration call it to cleanup joints after a rigid-body removal. ### Fixed -- Fix a panic that could happen when the same collider is listed twice in the removed_colliders array. +- Fix a panic that could happen when the same collider is listed twice in the removed_colliders array. ## v0.9.1 + ### Added + - Add `rapier::prelude::nalgebra` so that the `vector!` and `point!` macros work out-of-the-box after importing the prelude: `use rapier::prelude::*` ## v0.9.0 + The user-guide has been fully rewritten and is now exhaustive! Check it out on [rapier.rs](https://rapier.rs/) ### Added + - A prelude has been added in order to simplify the most common imports. For example: `use rapier3d::prelude::*` - Add `RigidBody::set_translation` and `RigidBody.translation()`. - Add `RigidBody::set_rotation` and `RigidBody.rotation()`. @@ -322,6 +388,7 @@ The user-guide has been fully rewritten and is now exhaustive! Check it out on [ 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 been split into multiple components that can be stored in a user-defined set. This is useful for integrating Rapier with other engines (for example this allows us to use Bevy's Query as our rigid-body/collider sets). @@ -330,6 +397,7 @@ The `RigidBodySet, ColliderSet, RigidBody, Collider` are still the best option f provide their own component sets. #### Rigid-bodies + - Renamed `BodyStatus` to `RigidBodyType`. - `RigidBodyBuilder::translation` now takes a vector instead of individual components. - `RigidBodyBuilder::linvel` now takes a vector instead of individual components. @@ -337,8 +405,9 @@ provide their own component sets. `RigidBodyBuilder::new_kinematic_velocity_based` constructors. - The `RigidBodyType::Kinematic` variant has been replaced by two variants: `RigidBodyType::KinematicVelocityBased` and `RigidBodyType::KinematicPositionBased`. - + #### Colliders + - `Colliderbuilder::translation` now takes a vector instead of individual components. - The way `PhysicsHooks` are enabled changed. Now, a physics hooks is executed if any of the two colliders involved in the contact/intersection pair contains the related `PhysicsHooksFlag`. @@ -360,115 +429,139 @@ provide their own component sets. - Fixed a bug where collision groups were ignored by CCD. #### Joints + - The fields `FixedJoint::local_anchor1` and `FixedJoint::local_anchor2` have been renamed to `FixedJoint::local_frame1` and `FixedJoint::local_frame2`. - + #### Pipelines and others + - The field `ContactPair::pair` (which contained two collider handles) has been replaced by two fields: `ContactPair::collider1` and `ContactPair::collider2`. - The list of active dynamic bodies is now retrieved with `IslandManager::active_dynamic_bodies` instead of `RigidBodySet::iter_active_dynamic`. - The list of active kinematic bodies is now retrieved with `IslandManager::active_kinematic_bodies` instead of `RigidBodySet::iter_active_kinematic`. -- `NarrowPhase::contacts_with` now returns an `impl Iterator<Item = &ContactPair>` instead of +- `NarrowPhase::contacts_with` now returns an `impl Iterator<Item = &ContactPair>` instead of an `Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>>`. The colliders handles can be read from the contact-pair itself. - `NarrowPhase::intersections_with` now returns an iterator directly instead of an `Option<impl Iterator>`. - Rename `PhysicsHooksFlags` to `ActiveHooks`. - Add the contact pair as an argument to `EventHandler::handle_contact_event` - ## v0.8.0 + ### Modified + - Switch to nalgebra 0.26. ## v0.7.2 + ### Added + - Implement `Serialize` and `Deserialize` for the `CCDSolver`. ### Fixed + - Fix a crash that could happen after adding and then removing a collider right away, -before stepping the simulation. + before stepping the simulation. ## v0.7.1 + ### Fixed + - Fixed a bug in the broad-phase that could cause non-determinism after snapshot restoration. ## v0.7.0 + ### Added + - Add the support of **Continuous Collision Detection** (CCD) to -make sure that some fast-moving objects (chosen by the user) don't miss any contacts. -This is done by using motion-clamping, i.e., each fast-moving rigid-body with CCD enabled will -be stopped at the time where their first contact happen. This will result in some "time loss" for that -rigid-body. This loss of time can be reduced by increasing the maximum number of CCD substeps executed -(the default being 1). + make sure that some fast-moving objects (chosen by the user) don't miss any contacts. + This is done by using motion-clamping, i.e., each fast-moving rigid-body with CCD enabled will + be stopped at the time where their first contact happen. This will result in some "time loss" for that + rigid-body. This loss of time can be reduced by increasing the maximum number of CCD substeps executed + (the default being 1). - Add the support of **collider modification**. Now, most of the characteristics of a collider can be -modified after the collider has been created. + modified after the collider has been created. - We now use an **implicit friction cone** for handling friction, instead of a pyramidal approximation -of the friction cone. This means that friction will now behave in a more isotropic way (i.e. more realistic -Coulomb friction). + of the friction cone. This means that friction will now behave in a more isotropic way (i.e. more realistic + Coulomb friction). - Add the support of **custom filters** for the `QueryPipeline`. So far, interaction groups (bit masks) -had to be used to exclude from colliders from a query made with the `QueryPipeline`. Now it is also -possible to provide a custom closures to apply arbitrary user-defined filters. + had to be used to exclude from colliders from a query made with the `QueryPipeline`. Now it is also + possible to provide a custom closures to apply arbitrary user-defined filters. - It is now possible to solve penetrations using the velocity solver instead of (or alongside) the -position solver (this is disabled by default, set `IntegrationParameters::velocity_based_erp` to + position solver (this is disabled by default, set `IntegrationParameters::velocity_based_erp` to a value `> 0.0` to enable.). Added the methods: + - `ColliderBuilder::halfspace` to create a collider with an unbounded plane shape. - `Collider::shape_mut` to get a mutable reference to its shape. - `Collider::set_shape`, `::set_restitution_combine_rule`, `::set_position_wrt_parent`, `::set_collision_groups` -`::set_solver_groups` to change various properties of a collider after its creation. + `::set_solver_groups` to change various properties of a collider after its creation. - `RigidBodyBuilder::ccd_enabled` to enable CCD for a rigid-body. ### Modified + - The `target_dist` argument of `QueryPipeline::cast_shape` was removed. - `RigidBodyBuilder::mass_properties` has been deprecated, replaced by `::additional_mass_properties`. - `RigidBodyBuilder::mass` has been deprecated, replaced by `::additional_mass`. -- `RigidBodyBuilder::principal_angular_inertia` has been deprecated, replaced by `::additional_principal_angular_inertia`. -- The field `SolveContact::data` has been replaced by the fields `SolverContact::warmstart_impulse`, +- `RigidBodyBuilder::principal_angular_inertia` has been deprecated, replaced + by `::additional_principal_angular_inertia`. +- The field `SolveContact::data` has been replaced by the fields `SolverContact::warmstart_impulse`, `SolverContact::warmstart_tangent_impulse`, and `SolverContact::prev_rhs`. - All the fields of `IntegrationParameters` that we don't use have been removed. - `NarrowPhase::maintain` has been renamed to `NarrowPhase::handle_user_changes`. - `BroadPhase::maintain` has been removed. Use ` BroadPhase::update` directly. ### Fixed + - The Broad-Phase algorithm has been completely reworked to support large colliders properly (until now -they could result in very large memory and CPU usage). + they could result in very large memory and CPU usage). ## v0.6.1 + ### Fixed + - Fix a determinism problem that may happen after snapshot restoration, if a rigid-body is sleeping at the time the snapshot is taken. ## 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 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. + 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. + 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 `rapier3d-f64` for physics simulation with 64-bits floats. ### Added + - Added a `RAPIER.version()` function at the root of the package to retrieve the version of Rapier as a string. Several geometric queries have been added to the `QueryPipeline`: + - `QueryPipeline::intersections_with_ray`: get all colliders intersecting a ray. - `QueryPipeline::intersection_with_shape`: get one collider intersecting a shape. - `QueryPipeline::project_point`: get the projection of a point on the closest collider. @@ -478,66 +571,83 @@ Several geometric queries have been added to the `QueryPipeline`: - `QueryPipeline::intersections_with_shape`: get all the colliders intersecting a shape. Several new shape types are now supported: + - `RoundCuboid`, `Segment`, `Triangle`, `RoundTriangle`, `Polyline`, `ConvexPolygon` (2D only), `RoundConvexPolygon` (2D only), `ConvexPolyhedron` (3D only), `RoundConvexPolyhedron` (3D only), `RoundCone` (3D only). It is possible to build `ColliderDesc` using these new shapes: + - `ColliderBuilder::round_cuboid`, `ColliderBuilder::segment`, `ColliderBuilder::triangle`, `ColliderBuilder::round_triangle`, `ColliderBuilder::convex_hull`, `ColliderBuilder::round_convex_hull`, `ColliderBuilder::polyline`, `ColliderBuilder::convex_decomposition`, `ColliderBuilder::round_convex_decomposition`, `ColliderBuilder::convex_polyline` (2D only), `ColliderBuilder::round_convex_polyline` (2D only), - `ColliderBuilder::convex_mesh` (3D only),`ColliderBuilder::round_convex_mesh` (3D only), `ColliderBuilder::round_cone` (3D only). + `ColliderBuilder::convex_mesh` (3D only),`ColliderBuilder::round_convex_mesh` (3D + only), `ColliderBuilder::round_cone` (3D only). It is possible to specify different rules for combining friction and restitution coefficients of the two colliders involved in a contact with: + - `ColliderDesc::friction_combine_rule`, and `ColliderDesc::restitution_combine_rule`. Various RigidBody-related getter and setters have been added: + - `RigidBodyBuilder::gravity_scale`, `RigidBody::gravity_scale`, `RigidBody::set_gravity_scale` to get/set the scale factor applied to the gravity affecting a rigid-body. Setting this to 0.0 will make the rigid-body ignore gravity. - `RigidBody::set_linear_damping` and `RigidBody::set_angular_damping` to set the linear and angular damping of the rigid-body. - `RigidBodyBuilder::restrict_rotations` to prevent rotations along specific coordinate axes. This replaces the three boolean arguments previously passed to `.set_principal_angular_inertia`. - + ### Breaking changes + Breaking changes related to contacts: -- The way contacts are represented changed. Refer to the documentation of `parry::query::ContactManifold`, `parry::query::TrackedContact` + +- The way contacts are represented changed. Refer to the documentation + of `parry::query::ContactManifold`, `parry::query::TrackedContact` and `rapier::geometry::ContactManifoldData` and `rapier::geometry::ContactData` for details. Breaking changes related to rigid-bodies: -- The `RigidBodyDesc.setMass` takes only one argument now. Use `RigidBodyDesc.lockTranslations` to lock the translational + +- The `RigidBodyDesc.setMass` takes only one argument now. Use `RigidBodyDesc.lockTranslations` to lock the + translational motion of the rigid-body. - The `RigidBodyDesc.setPrincipalAngularInertia` no longer have boolean parameters to lock rotations. - Use `RigidBodyDesc.lockRotations` or `RigidBodyDesc.restrictRotations` to lock the rotational motion of the rigid-body. + Use `RigidBodyDesc.lockRotations` or `RigidBodyDesc.restrictRotations` to lock the rotational motion of the + rigid-body. Breaking changes related to colliders: + - The collider shape type has been renamed from `ColliderShape` to `SharedShape` (now part of the Parry crate). - The `Polygon` shape no longer exists. For a 2D convex polygon, use a `ConvexPolygon` instead. - All occurrences of `Trimesh` have been replaced by `TriMesh` (note the change in case). Breaking changes related to events: + - Rename all occurrences of `Proximity` to `Intersection`. - The `Proximity` enum has been removed, it's replaced by a boolean. ## v0.4.2 + - Fix a bug in angular inertia tensor computation that could cause rotations not to work properly. - Add `RigidBody::set_mass_properties` to set the mass properties of an already-constructed rigid-body. ## v0.4.1 + - The `RigidBodyBuilder::principal_inertia` method has been deprecated and renamed to `principal_angular_inertia` for clarity. ## v0.4.0 + - The rigid-body `linvel`, `angvel`, and `position` fields are no longer public. Access using their corresponding getters/setters. For example: `rb.linvel()`, `rb.set_linvel(vel, true)`. - Add `RigidBodyBuilder::sleeping(true)` to allow the creation of a rigid-body that is asleep at initialization-time. #### Locking translation and rotations of a rigid-body + - Add `RigidBodyBuilder::lock_rotations` to prevent a rigid-body from rotating because of forces. - Add `RigidBodyBuilder::lock_translations` to prevent a rigid-body from translating because of forces. - Add `RigidBodyBuilder::principal_inertia` for setting the principal inertia of a rigid-body, and/or @@ -546,6 +656,7 @@ Breaking changes related to events: contributions should be taken into account in the future too. #### Reading contact and proximity information + - Add `NarrowPhase::contacts_with` and `NarrowPhase::proximities_with` to retrieve all the contact pairs and proximity pairs involving a specific collider. - Add `NarrowPhase::contact_pair` and `NarrowPhase::proximity_pair` to retrieve one specific contact @@ -554,6 +665,7 @@ Breaking changes related to events: proximity pairs detected by the narrow-phase. ## 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. @@ -562,34 +674,43 @@ Breaking changes related to events: - 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 + 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`. +- 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. +- 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. - Add `ColliderSet::remove(...)` to remove a collider from the `ColliderSet`. - Replace `PhysicsPipeline::remove_rigid_body` by `RigidBodySet::remove`. - The `JointSet.iter()` now returns an iterator yielding `(JointHandle, &Joint)` instead of just `&Joint`. -- Add `ColliderDesc::translation(...)` to set the translation of a collider relative to the rigid-body it is attached to. +- Add `ColliderDesc::translation(...)` to set the translation of a collider relative to the rigid-body it is attached + to. - Add `ColliderDesc::rotation(...)` to set the rotation of a collider relative to the rigid-body it is attached to. - Add `ColliderDesc::position(...)` to set the position of a collider relative to the rigid-body it is attached to. - Add `Collider::position_wrt_parent()` to get the position of a collider relative to the rigid-body it is attached to. @@ -597,8 +718,8 @@ scene-wide queries. So far only ray-casting has been implemented. - Deprecate `Collider::delta()` in favor of the new `Collider::position_wrt_parent()`. - Fix multiple issues occurring when having colliders resulting in a non-zero center-of-mass. - Fix a crash happening when removing a rigid-body with a collider, stepping the simulation, adding another rigid-body - with a collider, and stepping the simulation again. + with a collider, and stepping the simulation again. - Fix NaN when detection contacts between two polygonal faces where one has a normal perfectly perpendicular to the -separating vector. + separating vector. - Fix bug collision detection between trimeshes and other shapes. The bug appeared depending on whether the trimesh -collider was added before the other shape's collider or after. + collider was added before the other shape's collider or after. |