diff options
| -rw-r--r-- | CHANGELOG.md | 19 |
1 files changed, 15 insertions, 4 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md index c5800a7..63a90e1 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,5 +1,10 @@ ## Unreleased ### 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). +- Fix panic in the `CollisionPipeline` if a collider is both added and removed before a call + to `CollisionPipeline::step`. ### Modified - The `RigidBodyBuilder::additional_mass` method will now result in the additional angular inertia @@ -22,10 +27,16 @@ - 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 `ContactForceEvent` event. This event is useful to read contact forces. A `ContactForceEvent` - is generated whenever the sum of the magnitudes of the forces applied by contacts between two colliders - exceeds the value specified by `Collider::contact_force_event_threshold` on any of the two colliders with - the `ActiveEvents::CONTACT_FORCE_EVENT` flag set. +- 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 + the method `EventHandler::handle_contact_force_event`. Contact force events are generated whenever the sum of the + magnitudes of all the forces between two colliders is greater than any of their + `Collider::contact_force_event_threshold` values (only the colliders wit the `ActiveEvents::CONTACT_FORCE_EVENT` flag + set are taken into account for this threshold). +- Add the `ContactForceEvent` struct that is generated by the `ChannelEventCollector` to report + contact force events. ## v0.13.0 (31 May 2022) ### Fixed |