diff options
125 files changed, 2421 insertions, 1652 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md index 2d3dcf9..52f5a35 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,7 +1,71 @@ ## 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(). +- Add `RigidBody::set_next_translation` for setting the next translation of a position-based kinematic body. +- 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`. ### 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 use to use Bevy's Query as our rigid-body/collider sets). + +The `RigidBodySet, ColliderSet, RigidBody, Collider` are still the best option for whoever doesn't want to +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. +- The `RigidBodyBuilder::new_kinematic` has be replaced by the `RigidBodyBuilder::new_kinematic_position_based` and + `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 +- The `RigidBodyType::Kinematic` variant has been replaced by two variants: `RigidBodyType::KinematicVelocityBased` and + `RigidBodyType::KinematicPositionBased`.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`. + These flags are configured on each collider with `ColliderBuilder::active_hooks`. As a result, + there is no `PhysicsHooks::active_hooks` method any more. +- All events are now disabled for all colliders by default. Enable events for specific colliders by setting its + `active_events` bit mask to `ActiveEvents::CONTACT_EVENTS` and/or `ActiveEvents::PROXIMITY_EVENTS`. +- Add a simpler way of enabling collision-detection between colliders attached to two non-dynamic rigid-bodies: see + `ColliderBuilder::active_collision_types`. +- The `InteractionGroups` is now a structures with two `u32` integers: one integers for the groups + membership and one for the group filter mask. (Before, both were only 16-bits wide, and were + packed into a single `u32`). +- Before, sensor colliders had a default density set to 0.0 whereas non-sensor colliders had a + default density of 1.0. This has been unified by setting the default density to 1.0 for both + sensor and non-sensor colliders. +- Colliders are no longer required to be attached to a rigid-body. Therefore, `ColliderSet::insert` + only takes the collider as argument now. In order to attach the collider to a rigid-body, + (i.e., the old behavior of `ColliderSet::insert`), use `ColliderSet::insert_with_parent`. +- 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 no retrieved with `IslandManager::active_dynamic_bodies` + instead of `RigidBodySet::iter_active_dynamic`. +- The list of active kinematic bodies is no retrieved with `IslandManager::active_kinematic_bodies` + instead of `RigidBodySet::iter_active_kinematic`. +- `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 @@ -18,9 +18,6 @@ resolver = "2" #parry3d-f64 = { path = "../parry/build/parry3d-f64" } #nalgebra = { path = "../nalgebra" } |