diff options
Diffstat (limited to 'CHANGELOG.md')
| -rw-r--r-- | CHANGELOG.md | 20 |
1 files changed, 19 insertions, 1 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 |