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diff --git a/CHANGELOG.md b/CHANGELOG.md index 71576cd..9f57869 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,20 +1,38 @@ -## Unlereased +## 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`. +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 +with it directly or indirectly through contacts and joints): `RigidBodyBuilder::additional_solver_iterations` and +`RigidBodyBuilder::set_additional_solver_iterations`. This allows for higher-accuracy on subsets of the physics scene +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 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 `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 character controller is sliding on a slope that is too steep. - Add `Wheel::side_friction_stiffness` to customize the side friction applied to the vehicle controller’s wheel. +- Add `Wheel::raycast_info` to access more wheel information relative to the ground. - Add `DebugRenderStyle::disabled_color_multiplier` to make the debug-renderer color disabled object differently. +- Fix incorrect update of angular degrees-of-freedoms on spherical multibody joints. +- 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. -- Switch the testbed to `bevy 0.11` and use its new Gizmos API for rendering lines. +- Switch the testbed to `bevy 0.12` and use its new Gizmos API for rendering lines. +- Rename `NarrowPhase::contacts_with` to `NarrowPhase::contact_pairs_with`. +- Rename `NarrowPhase::intersections_with` to `NarrowPhase::intersection_pairs_with`. ## v0.17.2 (26 Feb. 2023) ### Fix |