path: root/CHANGELOG.md

## v0.23.0 (08 Jan 2024)

### Fix

- The broad-phase region key has been replaced by an i64 in the f64 version of rapier, increasing the range before panics occur.
- Fix `BroadphaseMultiSap` not being able to serialize correctly with serde_json.
- Fix `KinematicCharacterController::move_shape` not respecting parameters `max_slope_climb_angle` and `min_slope_slide_angle`.
- Improve ground detection reliability for `KinematicCharacterController`. (#715)
- Fix wasm32 default values for physics hooks filter to be consistent with native: `COMPUTE_IMPULSES`.

### Added

- `RigidBodySet` and `ColliderSet` have a new constructor `with_capacity`.
- Use `profiling` crate to provide helpful profiling information in different tools.
  - The testbeds have been updated to use `puffin_egui`

### Modified

- `InteractionGroups` default value for `memberships` is now `GROUP_1` (#706)
- `ImpulseJointSet::get_mut` has a new parameter `wake_up: bool`, to wake up connected bodies.
- Removed unmaintained `instant` in favor of `web-time`. This effectively removes the `wasm-bindgen` transitive dependency as it's no longer needed.
- Significantly improve performances of `QueryPipeline::intersection_with_shape`.

## v0.22.0 (20 July 2024)

### Fix

- Fix crash when removing a multibody joint, or a rigid-body with a multipody-joint attached to it.
- Fix crash when inserting multibody joints in an arbitrary order (instead of incrementally from root to leaf).
- Fix `BroadphaseMultiSap` not being able to serialize a field with serde_json.

### Added

- Implement rotation gizmo for Ball 2D shape (as radius line) in Debug renderer if `DebugRenderMode::COLLIDER_SHAPES`
  enabled
- Implement `Debug` for `ColliderSet`, `InteractionGraph`,
  `MultibodyLink`, `MultibodyJointSet`, `Multibody`, `ImpulseJointSet`

### Modified

- Update parry to v0.17. Refer to [its changelog](https://github.com/dimforge/parry/blob/master/CHANGELOG.md#v0170) for
  further details.
- Divided by two the value of each `QueryFilterFlags` variant so that
  the smallest one is 1 instead of 2 (fixes a bug in rapier.js).
- `BroadphaseMultiSap` now serializes its `colliders_proxy_ids` as `Vec[(ColliderHandle, BroadPhaseProxyIndex)]`.

## v0.21.0 (23 June 2024)

### Fix

- Fix `NaN` values appearing in bodies translation and rotation after a simulation step with a delta time equal to
  0 ([#660](https://github.com/dimforge/rapier/pull/660)).
- Fix crash in the SAP broad-phase when teleporting an object.

### Modified

- Update to `nalgebra` 0.33 and `parry` 0.16.
- `solve_character_collision_impulses` collisions parameter is now an iterator over references.

## v0.20.0 (9 June 2024)

This release introduces two new crates:

- `rapier3d-urdf` for loading URDF files into rapier3d. This will load the rigid-bodies,
  colliders, and joints.
- `rapier3d-stl` for loading an STL file as a collision shape.

### Added

- Add `Multibody::inverse_kinematics`, `Multibody::inverse_kinematics_delta`,
  and `::inverse_kinematics_delta_with_jacobian`
  for running inverse kinematics on a multibody to align one its links pose to the given prescribed pose.
- Add `InverseKinematicsOption` to customize some behaviors of the inverse-kinematics solver.
- Add `Multibody::body_jacobian` to get the jacobian of a specific link.
- Add `Multibody::update_rigid_bodies` to update rigid-bodies based on the multibody links poses.
- Add `Multibody::forward_kinematics_single_link` to run forward-kinematics to compute the new pose and jacobian of a
  single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are
  taken into account during transform propagation.
- Implement `Debug` for `ColliderBuilder`.
- Add `Collider::converted_trimesh` and `MeshConverter` for building a collider with a shape computed from a mesh’s
  index and vertex buffers. That computed shape can currently be a `TriMesh`, a `Cuboid` (covering the mesh’s AABB or
  OBB), a convex hull, or a convex decomposition.
- Implement `Default` for `RigidBodyBuilder`. This is equivalent to `RigidBodyBuilder::dynamic()`.
- Implement `Default` for `ColliderBuilder`. This is equivalent to `ColliderBuilder::ball(0.5)`.
- Add `RevoluteJoint::angle` to compute the joint’s angle given the rotation of its attached rigid-bodies.

### Modified

- Renamed `JointAxesMask::X/Y/Z` to `::LIN_X/LIN_Y/LIN_Z`; and renamed `JointAxisMask::X/Y/Z` to `::LinX/LinY/LynZ` to
  make it clear it is not to be used as angular axes (the angular axis are `JointAxesMask::ANG_X/ANG_Y/AngZ` and
  `JointAxisMask::AngX/AngY/AngZ`).
- The contact constraints regularization parameters have been changed from `erp/damping_ratio` to
  `natural_frequency/damping_ratio`. This helps define them in a timestep-length independent way. The new variables
  are named `IntegrationParameters::contact_natural_frequency` and `IntegrationParameters::contact_damping_ratio`.
- The `IntegrationParameters::normalized_max_penetration_correction` has been replaced
  by `::normalized_max_corrective_velocity`
  to make the parameter more timestep-length independent. It is now set to a non-infinite value to eliminate aggressive
  "popping effects".
- The `Multibody::forward_kinematics` method will no longer automatically update the poses of the `RigidBody` associated
  to each joint. Instead `Multibody::update_rigid_bodies` has to be called explicitly.
- The `Multibody::forward_kinematics` method will automatically adjust the multibody’s degrees of freedom if the root
  rigid-body changed type (between dynamic and non-dynamic). It can also optionally apply the root’s rigid-body pose
  instead of the root link’s pose (useful for example if you modified the root rigid-body pose externally and wanted
  to propagate it to the multibody).
- Remove an internal special-case for contact constraints on fast contacts. The doesn’t seem necessary with the substep
  solver.
- Remove `RigidBody::add_collider`. This was an implementation detail previously needed by `bevy_rapier`. To attach
  a collider to a rigid-body, use `ColliderSet::insert_with_parent` or `ColliderSet::set_parent`.
- Rename `JointAxis::X/Y/Z` to `::LinX/LinY/LinZ` to avoid confusing it with `::AngX/AngY/AngZ`.
- Rename `JointAxesMask::X/Y/Z` to `::LIN_X/LIN_Y/LIN_Z` to avoid confusing it with `::ANG_X/ANG_Y/ANG_Z`.
- The function `RigidBody::add_collider` is now private. It was only public because it was needed for some internal
  `bevy_rapier` plumbings, but it is no longer useful. Adding a collider must always go through the `ColliderSet`.
- `CharacterController::solve_character_collision_impulses` now takes multiple `CharacterCollision` as parameter:
  this change will allow further internal optimizations.
- `QueryPipeline::update` now doesn't need the `RigidBodySet` as parameter.
- Removed `QueryPipelineMode`.
- `QueryPipeline::update_with_mode` was renamed to `::update_with_generator` and now takes
  `impl QbvhDataGenerator<ColliderHandle>` as parameter see [`QueryPipeline::updaters`] module for more information.

## v0.19.0 (05 May 2024)

### Fix

- Fix crash when simulating a spring joint between two dynamic bodies.
- Fix kinematic bodies not being affected by gravity after being switched back to dynamic.
- Fix regression on contact force reporting from contact force events.
- 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

**Many shape-casting related functions/structs were renamed. Check out the CHANGELOG for parry 0.15.0 for
additional details.**

- Renamed `BroadPhase` to `BroadPhaseMultiSap`. The `BroadPhase` is now a trait that can be
  implemented for providing a custom broad-phase to rapier. Equivalently, the `DefaultBroadPhase` type
  alias can be used in place of `BroadPhaseMultiSap`.
- The kinematic character controller autostepping is now disabled by default.
- Add `KinematicCharacterController::normal_nudge_factor` used to help getting the character unstuck
  due to rounding errors.
- Rename `TOI` to `ShapeCastHit`.
- Rename many fields from `toi` to `time_of_impact`.
- The `QueryPipeline::cast_shape` method now takes a `ShapeCastOptions` instead of the `max_toi`
  and `stop_at_penetration` parameters. This allows a couple of extra configurations, including the
  ability to have the shape-cast target a specific distance instead of actual shape overlap.

## 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 0.12` 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

- Fix issue with convex polyhedron jitter due to missing contacts.
- Fix character controller getting stuck against vertical walls.
- Fix character controller’s snapping to ground not triggering sometimes.
- Fix character controller’s horizontal offset being mostly ignored and some instances of vertical offset being ignored.

## v0.17.1 (22 Jan. 2023)

### Fix

- Fix bug resulting in dynamic rigid-bodies acting as kinematic bodies after being disabled and then re-enabled.

## v0.17.0 (15 Jan. 2023)

### Added

- Add `RigidBody::set_enabled`, `RigidBody::is_enabled`, `RigidBodyBuilder::enabled` to enable/disable a rigid-body
  without having to delete it. Disabling a rigid-body attached to a multibody joint isn’t supported yet.
- Add `Collider::set_enabled`, `Collider::is_enabled`, `ColliderBuilder::enabled` to enable/disable a collider
  without having to delete it.
- Add `GenericJoint::set_enabled`, `GenericJoint::is_enabled` to enable/disable a joint without having to delete it.
  Disabling a multibody joint isn’t supported yet.
- Add `DynamicRayCastVehicleController`, a vehicle controller based on ray-casting and dynamic rigid-bodies (mostly
  a port of the vehicle controller from Bullet physics).
- Add `RigidBody::user_force` and `RigidBody::user_torque` to read the forces or torques added by the user to a
  dynamic rigid-body.
- Add `RigidBody::locked_axes` to get the rigid-body axes that were locked by the user.

### Modified

- Add the `QueryPipeline` as an optional argument to `PhysicsPipeline::step` and `CollisionPipeline::step`. If this
  argument is specified, then the query pipeline will be incrementally (i.e. more efficiently) update at the same time
  as
  these other pipelines. In that case, calling `QueryPipeline::update` a `PhysicsPipeline::step` isn’t needed.
- `RigidBody::set_body_type` now takes an extra boolean argument indicating if the rigid-body should be woken-up
  (if it becomes dynamic).
- `RigidBody::mass_properties` now also returns the world-space mass-properties of the rigid-body.

### Fix

- Fix bug resulting in rigid-bodies being awakened after they are created, even if they are created sleeping.

## v0.16.1 (10 Nov. 2022)

### Fix

- Fixed docs build on `docs.rs`.

## v0.16.0 (30 Oct. 2022)

### Added

- Implement `Copy` for `CharacterCollision`.
- Implement conversion (`From` trait) between `Group` and `u32`.
- Add `ColliderBuilder::trimesh_with_flags` to build a triangle mesh with specific flags controlling
  its initialization.

### Modified

- Rename `AABB` to `Aabb` to comply with Rust’s style guide.
- Switch to `parry 0.11`.

### Fix

- Fix internal edges of 3D triangle meshes or 3D heightfields generating invalid contacts preventing
  balls from moving straight.

## v0.15.0 (02 Oct. 2022)

### Added

- Add a **kinematic character** controller implementation. See the `control` module. The character controller currently
  supports the following features:
    - Slide on uneven terrains
    - Interaction with dynamic bodies.
    - Climb stairs automatically.
    - Automatically snap the body to the floor when going downstairs.
    - Prevent sliding up slopes that are too steep
    - Prevent sliding down slopes that are not steep enough
    - Int