path: root/CHANGELOG.md

## v0.7.1
### Fixed
- Fixed a bug in the broad-phase that could cause non-determinism after snapshot restoration.

## v0.7.0
### Added
- Add the support of **Continuous Collision Detection** (CCD) to
make sure that some fast-moving objects (chosen by the user) don't miss any contacts.
This is done by using motion-clamping, i.e., each fast-moving rigid-body with CCD enabled will
be stopped at the time where their first contact happen. This will result in some "time loss" for that
rigid-body. This loss of time can be reduced by increasing the maximum number  of CCD substeps executed
(the default being 1).
- Add the support of **collider modification**. Now, most of the characteristics of a collider can be
modified after the collider has been created.
- We now use an **implicit friction cone** for handling friction, instead of a pyramidal approximation
of the friction cone. This means that friction will now  behave in a more isotropic way (i.e. more realistic
Coulomb friction).
- Add the support of **custom filters** for the `QueryPipeline`. So far, interaction groups (bit masks)
had to be used to exclude from colliders from a query made with the `QueryPipeline`. Now it is also
possible to provide a custom closures to apply arbitrary user-defined filters.
- It is now possible to solve penetrations using the velocity solver instead of (or alongside) the
position solver (this is disabled by default, set `IntegrationParameters::velocity_based_erp` to
  a value `> 0.0` to enable.).

Added the methods:
- `ColliderBuilder::halfspace` to create a collider with an unbounded plane shape.
- `Collider::shape_mut` to get a mutable reference to its shape.
- `Collider::set_shape`, `::set_restitution_combine_rule`, `::set_position_wrt_parent`, `::set_collision_groups`
`::set_solver_groups` to change various properties of a collider after its creation.
- `RigidBodyBuilder::ccd_enabled` to enable CCD for a rigid-body.

### Modified
- The `target_dist` argument of `QueryPipeline::cast_shape` was removed.
- `RigidBodyBuilder::mass_properties` has been deprecated, replaced by `::additional_mass_properties`.
- `RigidBodyBuilder::mass` has been deprecated, replaced by `::additional_mass`.
- `RigidBodyBuilder::principal_angular_inertia` has been deprecated, replaced by `::additional_principal_angular_inertia`.
- The field `SolveContact::data` has been replaced by the fields `SolverContact::warmstart_impulse`, 
  `SolverContact::warmstart_tangent_impulse`, and `SolverContact::prev_rhs`.
- All the fields of `IntegrationParameters` that we don't use have been removed.

### Fixed
- The Broad-Phase algorithm has been completely reworked to support large colliders properly (until now
they could result in very large memory and CPU usage).

## v0.6.1
### Fixed
- Fix a determinism problem that may happen after snapshot restoration, if a rigid-body is sleeping at
  the time the snapshot is taken.

## v0.6.0
### Added
- The support of **dominance groups** have been added. Each rigid-body is part of a dominance group in [-127; 127]
(the default is 0). If two rigid-body are in contact, the one with the highest dominance will act as if it has
an infinite mass, making it immune to the forces the other body would apply on it. See [#122](https://github.com/dimforge/rapier/pull/122)
for further details.
- The support for **contact modification** has been added. This can bee used to simulate conveyor belts,
one-way platforms and other non-physical effects. It can also be used to simulate materials with
variable friction and restitution coefficient on a single collider. See [#120](https://github.com/dimforge/rapier/pull/120)
for further details.
- The support for **joint motors** have been added. This can be used to control the position and/or
velocity of a joint based on a spring-like equation. See [#119](https://github.com/dimforge/rapier/pull/119)
for further details.

### Removed
- The `ContactPairFilter` and `IntersectionPairFilter` traits have been removed. They are both
  combined in a single new trait: `PhysicsHooks`.

## v0.5.0
In this release we are dropping `ncollide` and use our new crate [`parry`](https://parry.rs)
instead! This comes with a lot of new features, as well as two new crates: `rapier2d-f64` and
`rapier3d-f64` for physics simulation with 64-bits floats.

### Added
- Added a `RAPIER.version()` function at the root of the package to retrieve the version of Rapier
  as a string.

Several geometric queries have been added to the `QueryPipeline`:
- `QueryPipeline::intersections_with_ray`: get all colliders intersecting a ray.
- `QueryPipeline::intersection_with_shape`: get one collider intersecting a shape.
- `QueryPipeline::project_point`: get the projection of a point on the closest collider.
- `QueryPipeline::intersections_with_point`: get all the colliders containing a point.
- `QueryPipeline::cast_shape`: get the first collider intersecting a shape moving linearly
  (aka. sweep test).
- `QueryPipeline::intersections_with_shape`: get all the colliders intersecting a shape.

Several new shape types are now supported:
- `RoundCuboid`, `Segment`, `Triangle`, `RoundTriangle`, `Polyline`, `ConvexPolygon` (2D only),
  `RoundConvexPolygon` (2D only), `ConvexPolyhedron` (3D only), `RoundConvexPolyhedron` (3D only),
  `RoundCone` (3D only).

It is possible to build `ColliderDesc` using these new shapes:
- `ColliderBuilder::round_cuboid`, `ColliderBuilder::segment`, `ColliderBuilder::triangle`, `ColliderBuilder::round_triangle`,
  `ColliderBuilder::convex_hull`, `ColliderBuilder::round_convex_hull`, `ColliderBuilder::polyline`,
  `ColliderBuilder::convex_decomposition`, `ColliderBuilder::round_convex_decomposition`,
  `ColliderBuilder::convex_polyline` (2D only), `ColliderBuilder::round_convex_polyline` (2D only),
  `ColliderBuilder::convex_mesh` (3D only),`ColliderBuilder::round_convex_mesh` (3D only), `ColliderBuilder::round_cone` (3D only).

It is possible to specify different rules for combining friction and restitution coefficients
of the two colliders involved in a contact with:
- `ColliderDesc::friction_combine_rule`, and `ColliderDesc::restitution_combine_rule`.

Various RigidBody-related getter and setters have been added:
- `RigidBodyBuilder::gravity_scale`, `RigidBody::gravity_scale`, `RigidBody::set_gravity_scale` to get/set the scale
  factor applied to the gravity affecting a rigid-body. Setting this to 0.0 will make the rigid-body ignore gravity.
- `RigidBody::set_linear_damping` and `RigidBody::set_angular_damping` to set the linear and angular damping of
  the rigid-body.
- `RigidBodyBuilder::restrict_rotations` to prevent rotations along specific coordinate axes. This replaces the three
  boolean arguments previously passed to `.set_principal_angular_inertia`.
  
### Breaking changes
Breaking changes related to contacts:
- The way contacts are represented changed. Refer to the documentation of `parry::query::ContactManifold`, `parry::query::TrackedContact`
  and `rapier::geometry::ContactManifoldData` and `rapier::geometry::ContactData` for details.

Breaking changes related to rigid-bodies:
- The `RigidBodyDesc.setMass` takes only one argument now. Use `RigidBodyDesc.lockTranslations` to lock the translational
  motion of the rigid-body.
- The `RigidBodyDesc.setPrincipalAngularInertia` no longer have boolean parameters to lock rotations.
  Use `RigidBodyDesc.lockRotations` or `RigidBodyDesc.restrictRotations` to lock the rotational motion of the rigid-body.

Breaking changes related to colliders:
- The collider shape type has been renamed from `ColliderShape` to `SharedShape` (now part of the Parry crate).
- The `Polygon` shape no longer exists. For a 2D convex polygon, use a `ConvexPolygon` instead.
- All occurrences of `Trimesh` have been replaced by `TriMesh` (note the change in case).

Breaking changes related to events:
- Rename all occurrences of `Proximity` to `Intersection`.
- The `Proximity` enum has been removed, it's replaced by a boolean.

## v0.4.2
- Fix a bug in angular inertia tensor computation that could cause rotations not to
  work properly.
- Add `RigidBody::set_mass_properties` to set the mass properties of an already-constructed
  rigid-body.

## v0.4.1
- The `RigidBodyBuilder::principal_inertia` method has been deprecated and renamed to
  `principal_angular_inertia` for clarity.

## v0.4.0
- The rigid-body `linvel`, `angvel`, and `position` fields are no longer public. Access using
  their corresponding getters/setters. For example: `rb.linvel()`, `rb.set_linvel(vel, true)`.
- Add `RigidBodyBuilder::sleeping(true)` to allow the creation of a rigid-body that is asleep
  at initialization-time.

#### Locking translation and rotations of a rigid-body
- Add `RigidBodyBuilder::lock_rotations` to prevent a rigid-body from rotating because of forces.
- Add `RigidBodyBuilder::lock_translations` to prevent a rigid-body from translating because of forces.
- Add `RigidBodyBuilder::principal_inertia` for setting the principal inertia of a rigid-body, and/or
  preventing the rigid-body from rotating along a specific axis.
- Change `RigidBodyBuilder::mass` by adding a bool parameter indicating whether or not the collider
  contributions should be taken into account in the future too.

#### Reading contact and proximity information
- Add `NarrowPhase::contacts_with` and `NarrowPhase::proximities_with` to retrieve all the contact
  pairs and proximity pairs involving a specific collider.
- Add `NarrowPhase::contact_pair` and `NarrowPhase::proximity_pair` to retrieve one specific contact
  pair or proximity pair if it exists.
- Add `NarrowPhase::contact_pairs`, and `NarrowPhase::proximity_pairs` to retrieve all the contact or
  proximity pairs detected by the narrow-phase.

## v0.3.2
- Add linear and angular damping. The damping factor can be set with `RigidBodyBuilder::linear_damping` and
  `RigidBodyBuilder::angular_damping`.
- Implement `Clone` for almost everything that can be worth cloning.
- Allow setting the initial mass and mass properties of a rigid-bodies using `RigidBodyBuilder::mass` and
  `RigidBodyBuilder::mass_properties`.
- The restitution coefficient of colliders is now taken into account by the physics solver.

## v0.3.1
- Fix non-determinism problem when using triangle-meshes, cone, cylinders, or capsules.
- Add `JointSet::remove(...)` to remove a joint from the `JointSet`.

## v0.3.0
- Collider shapes are now trait-objects instead of a `Shape` enum.
- Add a user-defined `u128` to each colliders and rigid-bodies for storing user data.
- Add the support for `Cylinder`, `RoundCylinder`, and `Cone` shapes.
- Added the support for collision filtering based on bit masks (often known as collision groups, collision masks, or
  collision layers in other physics engines). Each collider has two groups. Their `collision_groups` is used for filtering
  what pair of colliders should have their contacts computed by the narrow-phase. Their `solver_groups` is used for filtering
  what pair of colliders should have their contact forces computed by the constraints solver.
- Collision groups can also be used to filter what collider should be hit by a ray-cast performed by the `QueryPipeline`.
- Added collision filters based on user-defined trait-objects. This adds two traits `ContactPairFilter` and
  `ProximityPairFilter` that allows user-defined logic for determining if two colliders/sensors are allowed to interact.
- The `PhysicsPipeline::step` method now takes two additional arguments: the optional `&ContactPairFilter` and `&ProximityPairFilter`
for filtering contact and proximity pairs.

## v0.2.1
- Fix panic in TriMesh construction and QueryPipeline update caused by a stack overflow or a subtraction underflow.

## v0.2.0
The most significant change on this version is the addition of the `QueryPipeline` responsible for performing
scene-wide queries. So far only ray-casting has been implemented.

- Add `ColliderSet::remove(...)` to remove a collider from the `ColliderSet`.
- Replace `PhysicsPipeline::remove_rigid_body` by `RigidBodySet::remove`.
- The `JointSet.iter()` now returns an iterator yielding `(JointHandle, &Joint)` instead of just `&Joint`.
- Add `ColliderDesc::translation(...)` to set the translation of a collider relative to the rigid-body it is attached to.
- Add `ColliderDesc::rotation(...)` to set the rotation of a collider relative to the rigid-body it is attached to.
- Add `ColliderDesc::position(...)` to set the position of a collider relative to the rigid-body it is attached to.
- Add `Collider::position_wrt_parent()` to get the position of a collider relative to the rigid-body it is attached to.
- Modify `RigidBody::set_position(...)` so it also resets the next kinematic position to the same value.
- Deprecate `Collider::delta()` in favor of the new `Collider::position_wrt_parent()`.
- Fix multiple issues occurring when having colliders resulting in a non-zero center-of-mass.
- Fix a crash happening when removing a rigid-body with a collider, stepping the simulation, adding another rigid-body
 with a collider, and stepping the simulation again.
- Fix NaN when detection contacts between two polygonal faces where one has a normal perfectly perpendicular to the
separating vector.
- Fix bug collision detection between trimeshes and other shapes. The bug appeared depending on whether the trimesh
collider was added before the other shape's collider or after.