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-rw-r--r--CHANGELOG.md20
-rw-r--r--Cargo.toml8
-rw-r--r--crates/rapier2d-f64/Cargo.toml4
-rw-r--r--crates/rapier2d/Cargo.toml4
-rw-r--r--crates/rapier3d-f64/Cargo.toml4
-rw-r--r--crates/rapier3d/Cargo.toml4
-rw-r--r--crates/rapier_testbed2d-f64/Cargo.toml4
-rw-r--r--crates/rapier_testbed2d/Cargo.toml4
-rw-r--r--crates/rapier_testbed3d-f64/Cargo.toml4
-rw-r--r--crates/rapier_testbed3d/Cargo.toml4
10 files changed, 39 insertions, 21 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md
index 53e04f9..74f0497 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -1,4 +1,4 @@
-## Unreleased
+## v0.19.0 (05 May 2024)
### Fix
@@ -8,14 +8,32 @@
- Fix kinematic character controller getting stuck against vertical walls.
- Fix joint limits/motors occasionally not being applied properly when one of the attached
rigid-bodies is fixed.
+- Fix an issue where contacts would be completely ignored between two convex shapes.
### Added
+**Many stability improvements were added as part of this release. To see illustrations of some of these
+changes, see [#625](https://github.com/dimforge/rapier/pull/625).**
+
- Add `RigidBody::predict_position_using_velocity` to predict the next position of the rigid-body
based only on its current velocity.
- Add `Collider::copy_from` to copy most collider attributes to an existing collider.
- Add `RigidBody::copy_from` to copy most rigid-body attributes to an existing rigid-body.
- Add the `BroadPhase` trait and expect an implementor of this trait as input to `PhysicsPipeline::step`.
+- Implement a 2D block-solver as well as warmstarting. Significantly improves stacking capabilities. Generally reduces
+ the "pop" effect that can happen due to penetration corrections.
+- Add `RigidBodyBuilder::soft_ccd_prediction` and `RigidBody::set_soft_ccd_prediction` to enable `soft-ccd`: a form of
+ CCD based on predictive contacts. This is helpful for objects moving moderately fast. This form of CCD is generally
+ cheaper than the normal (time-dropping) CCD implemented so far. It is possible to combine both soft-ccd and
+ time-dropping ccd.
+- Add a `ColliderBuilder::contact_skin`, `Collider::set_contact_skin`, and `Collider::contact_skin`. This forces the
+ solver te maintain a gap between colliders with non-zero contact skin, as if they had a slight margin around them.
+ This helps performance and stability for thin objects (like triangle meshes).
+- Internal edges were reworked to avoid dropping contacts that would help with stability, and improve stability of
+ collisions between two triangle meshes. The `TriMeshFlags::FIX_INTERNAL_EDGES` and
+ `HeightFieldFlags::FIX_INTERNAL_EDGES` flags were added to enable internal edges handling.
+- Add `IntegrationParameters::length_units` to automatically adjust internal thresholds when the user relies on custom
+ length units (e.g. pixels in 2D).
### Modified
diff --git a/Cargo.toml b/Cargo.toml
index fa36dc5..b9d767c 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -17,10 +17,10 @@ resolver = "2"
#kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
#nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
-parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
-parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
-parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
-parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
+#parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
+#parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
+#parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
+#parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
[profile.release]
#debug = true
diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
index cb7baec..f80aa03 100644
--- a/crates/rapier2d-f64/Cargo.toml
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "rapier2d-f64"
-version = "0.18.0"
+version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d"
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = ["now"], optional = true }
num-traits = "0.2"
nalgebra = "0.32"
-parry2d-f64 = "0.14.0"
+parry2d-f64 = "0.15.0"
simba = "0.8"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
index 5c86692..0b4882f 100644
--- a/crates/rapier2d/Cargo.toml
+++ b/crates/rapier2d/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "rapier2d"
-version = "0.18.0"
+version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d"
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = ["now"], optional = true }
num-traits = "0.2"
nalgebra = "0.32"
-parry2d = "0.14.0"
+parry2d = "0.15.0"
simba = "0.8"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
index c2ed4b6..28f282c 100644
--- a/crates/rapier3d-f64/Cargo.toml
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "rapier3d-f64"
-version = "0.18.0"
+version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d"
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = ["now"], optional = true }
num-traits = "0.2"
nalgebra = "0.32"
-parry3d-f64 = "0.14.0"
+parry3d-f64 = "0.15.0"
simba = "0.8"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
index b5276e8..10c5fe1 100644
--- a/crates/rapier3d/Cargo.toml
+++ b/crates/rapier3d/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "rapier3d"
-version = "0.18.0"
+version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d"
@@ -52,7 +52,7 @@ vec_map = { version = "0.8", optional = true }
instant = { version = "0.1", features = ["now"], optional = true }
num-traits = "0.2"
nalgebra = "0.32"
-parry3d = "0.14.0"
+parry3d = "0.15.0"
simba = "0.8"
approx = "0.5"
rayon = { version = "1", optional = true }
diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
index 933ddfe..2a090bf 100644
--- a/crates/rapier_testbed2d-f64/Cargo.toml
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed2d-f64"
-version = "0.18.0"
+version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.org"
@@ -59,5 +59,5 @@ bevy = { version = "0.13", default-features = false, features = ["bevy_asset", "
[dependencies.rapier]
package = "rapier2d-f64"
path = "../rapier2d-f64"
-version = "0.18.0"
+version = "0.19.0"
features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
index 9cbbe4a..6165e23 100644
--- a/crates/rapier_testbed2d/Cargo.toml
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed2d"
-version = "0.18.0"
+version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.org"
@@ -59,5 +59,5 @@ bevy = { version = "0.13", default-features = false, features = ["bevy_sprite",
[dependencies.rapier]
package = "rapier2d"
path = "../rapier2d"
-version = "0.18.0"
+version = "0.19.0"
features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
index 1ceaa44..99d6e85 100644
--- a/crates/rapier_testbed3d-f64/Cargo.toml
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed3d-f64"
-version = "0.18.0"
+version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.org"
@@ -58,5 +58,5 @@ bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "
[dependencies.rapier]
package = "rapier3d-f64"
path = "../rapier3d-f64"
-version = "0.18.0"
+version = "0.19.0"
features = ["serde-serialize", "debug-render", "profiler"]
diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
index dd2a637..e8e7f3f 100644
--- a/crates/rapier_testbed3d/Cargo.toml
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed3d"
-version = "0.18.0"
+version = "0.19.0"
authors = ["Sébastien Crozet <developer@crozet.re>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.org"
@@ -62,5 +62,5 @@ bevy = { version = "0.13", default-features = false, features = ["bevy_winit", "
[dependencies.rapier]
package = "rapier3d"
path = "../rapier3d"
-version = "0.18.0"
+version = "0.19.0"
features = ["serde-serialize", "debug-render", "profiler"]
generated by cgit (git 2.34.1) at 2026-02-07 11:07:23 +0000