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Diffstat (limited to 'CHANGELOG.md')
| -rw-r--r-- | CHANGELOG.md | 16 |
1 files changed, 15 insertions, 1 deletions
diff --git a/CHANGELOG.md b/CHANGELOG.md index e46ad40..7ef592b 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,4 +1,9 @@ -## Unreleased +## v0.13.0 (31 Jun. 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. @@ -6,6 +11,15 @@ `MultibodyJointSet::remove/remove_joints_attached_to_rigid_body` and `MultibodyjointSet::remove_multibody_articulations` no longer require the `bodies` and `islands` arguments. +- Make the `instant` dependency optional, behind a `profiler` cargo feature. +- Rename STATIC to FIXED in the `ActiveCollisionTypes` flags. +- Rename `ImpulseJointSet::joints_with` to `::attached_joints`. Add the joint’s handle to the closure arguments. +- Make the default debug-render less noisy out-of-the-box by only rendering joints, rigid-bodies, and colliders + 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 |