path: root/CHANGELOG.md

## Unreleased

### 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.

### Added

- 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`.

### Modified

- Renamed `BroadPhase` to `BroadPhaseMultiSap`. The `BroadPhase` is no 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`.

## 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
    - Interactions with moving platforms.
    - Report information on the obstacles it hit on its path.
- Implement `serde` serialization/deserialization for `CollisionEvents` when the `serde-serialize` feature is enabled

### Modified

- The methods `Collider::set_rotation`, `RigidBody::set_rotation`, and `RigidBody::set_next_kinematic_rotation` now
  take a rotation (`UnitQuaternion` or `UnitComplex`) instead of a vector/angle.
- The method `QueryFilter::exclude_dynamic` is now a static method (the `self` argument was removed).
- The `QueryPipeline::cast_shape` method has a new argument `stop_at_penertation`. If set to `false`, the linear
  shape-cast won’t immediately stop if the shape is penetrating another shape at its starting point **and** its
  trajectory is such that it’s on a path to exist that penetration state.
- The `InteractionGroups` is now a set of explicit bit flags instead of a raw `u32`.
- The world-space mass properties of rigid-bodies are now updated automatically whenever the user changes their
  position.

## v0.14.0 (09 July 2022)

### Fixed

- Fix unpredictable broad-phase panic when using small colliders in the simulation.
- Fix collision events being incorrectly generated for any shape that produces multiple
  contact manifolds (like triangle meshes).
- Fix panic in the `CollisionPipeline` if a collider is both added and removed before a call
  to `CollisionPipeline::step`.

### Modified

- The `RigidBodyBuilder::additional_mass` method will now result in the additional angular inertia
  being automatically computed based on the shapes of the colliders attached to the rigid-body.
- Remove the deprecated methods `RigidBodyBuilder::mass`, `::principal_angular_inertia`, `::principal_inertia`.
- Remove the methods `RigidBodyBuilder::additional_principal_angular_inertia`. Use
  `RigidBodyBuilder::additional_mass_properties` instead.
- The `Collider::density` method now always returns a `Real` (instead of an `Option<Real>`).
- Rename `RigidBody::restrict_rotations` and `RigidBody::restrict_translations` to
  `RigidBody::set_enabled_rotations` and `RigidBody::set_enabled_translations`.
- Rename `RigidBodyBuilder::restrict_rotations` and `RigidBodyBuilder::restrict_translations` to
  `RigidBodyBuilder::enabled_rotations` and `RigidBodyBuilder::enabled_translations`.

### Added

- Add `RigidBody::recompute_mass_properties_from_colliders` to force the immediate computation
  of a rigid-body’s mass properties (instead of waiting for them to be recomputed during the next
  timestep). This is useful to be able to read immediately the result of a change of a rigid-body
  additional mass-properties or a change of one of its collider’s mass-properties.
- Add `RigidBody::set_additional_mass` to set the additional mass for the collider. The additional
  angular inertia is automatically computed based on the attached colliders shapes.
- Add `Collider::set_density`, `::set_mass`, `set_mass_properties`, to alter a collider’s mass
  properties. Note that `::set_mass` will result in the collider’s angular inertia being automatically
  computed based on this mass and on its shape.
- Add `ColliderBuilder::mass` to set the mass of the collider instead of its density. Its angular
  inertia tensor will be automatically computed based on this mass and its shape.
- Add `Collider::mass` and `Collider::volume` to retrieve the mass or volume of a collider.
- Add the `QueryFilter` that is now used by all the scene queries instead of the `CollisionGroups`
  and `Fn(ColliderHandle) -> bool`
  closure. This `QueryFilter` provides easy access to most common filtering strategies (e.g. dynamic bodies only,
  excluding one particular collider, etc.) for scene queries.
- Add force reporting based on contact force events. The `EventHandler` trait has been modified to include
  the method `EventHandler::handle_contact_force_event`. Contact force events are generated whenever the sum of the
  magnitudes of all the forces between two colliders is greater than any of their
  `Collider::contact_force_event_threshold` values (only the colliders wit the  `ActiveEvents::CONTACT_FORCE_EVENT` flag
  set are taken into account for this threshold).
- Add the `ContactForceEvent` struct that is generated by the `ChannelEventCollector` to report
  contact force events.

## v0.13.0 (31 May 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.
- The methods `ImpulseJointSet::remove/remove_joints_attached_to_rigid_body`,
  `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

- Fix the simulation when the `parallel` feature is enabled.
- Fix bug where damping would not be applied properly to some bodies.
- Fix panics caused by various situations (contact or joints) involving rigid-bodies with locked translations/rotations.
- Fix bug where collider modifications (like changes of collision groups, or shape) would not wake-up their attached
  rigid-body, or would not have any effect on pre-existing contacts.
- Fix the automatic update of a rigid-body’s mass properties after changing one of its attached colliders.
- Fix the broad-phase becoming potentially invalid after a change of collision groups.

### Modified

- Switch to `nalgebra` 0.31.
- Switch to `parry` 0.9.
- Rename `JointHandle` to `ImpulseJointHandle`.
- Rename `RigidBodyMassPropsFlags` to `LockedAxes`.
- Rename `RigidBody::apply_force`, `::apply_torque`, `::apply_force_at_point` to `::add_force`,
  `::add_torque`, and `::add_force_at_point` to better reflect the fact that they are not cleared at the end
  of the timestep.
- Rename `RigidBodyType::Static` to `RigidBodyType::Fixed` to avoid confusion with the `static` keyword.
- All method referring to `static` rigid-bodies now use `fixed` instead of `static`.
- Rename `RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based` to
  `RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based`.
- The `ContactEvent` and `IntersectionEvent` have been replaced by a single enum `CollisionEvent` in order
  to simplify the user’s event handling.
- The `ActiveEvents::CONTACT_EVENTS` and `ActiveEvents::INTERSECTION_EVENTS` flags have been replaced by a single
  flag `ActiveEvents::COLLISION_EVENTS`.
- Joint motors no longer have a `VelocityBased` model. The new choices are `AccelerationBased` and `ForceBased`
  which are more stable.
- Calling the `.build()` function from builders (`RigidBodyBuilder`, `ColliderBuilder`, etc.) is no longer necessary
  whan adding them to sets. It is automatically called thanks to `Into<_>` implementations.
- The `ComponentSet` abstractions (and related `_generic` methods like `PhysicsPipeline::step_generic`) have been
  removed. Custom storage for colliders and rigid-bodies are no longer possible: use the built-in `RigidBodySet` and
  `ColliderSet` instead.

### Semantic modifications

These are changes in the behavior of the physics engine that are not necessarily
reflected by an API change. See [#304](https://github.com/dimforge/rapier/pull/304) for extensive details.

- `RigidBody::set_linvel` and `RigidBody::set_angvel` no longer modify the velocity of static bodies.
- `RigidBody::set_body_type` will reset the velocity of a rigid-body to zero if it is static.
- Don’t automatically clear forces at the end of a timestep.
- Don’t reset the velocity of kinematic bodies to zero at the end of the timestep.
- Events `CollisionEvent::Stopped` are now generated after a collider is removed.

### Added

- Significantly improve the API of joints by adding:
    * Builders based on the builder pattern.
    * Getters and setters for all joints.
    * Method to convert a `GenericJoint` to one of the more specific joint type.
- Improve stability of joint motors.
- Adds a `bool` argument to `RigidBodySet::remove`. If set to `false`, the colliders attached to the rigid-body
  won’t be automatically deleted (they will only be detached from the deleted rigid-body instead).
- Add `RigidBody::reset_forces` and `RigidBody::reset_torques` to reset all the forces and torques added to the
  rigid-body by the user.
- Add the `debug-render` cargo feature that enables the `DebugRenderPipeline`: a line-based backend-agnostic
  renderer to debug the state of the physics engine.

## v0.12.0-alpha.0 (2 Jan. 2022)

### Fixed

- Fixed `RigidBody::restrict_rotations` to properly take into account the axes to lock.

### Modified

- All the impulse-based joints have been replaced by a single generic 6-Dofs joint in 3D
  (or 3-Dofs joint in 2D) named `ImpulseJoint`. The `RevoluteJoint, PrismaticJoint, FixedJoint`,
  and `SphericalJoint` (formely named `BallJoint`) structures still exist but are just convenient
  ways to initialize the generic `ImpulseJoint`.
- Our constraints solver has been modified. Before we used one velocity-based resolution followed
  by one position-based resolution. We are now using two velocity-based resolution: the first one
  includes constraints regularization whereas the second one doesn’t. This simplifies the resolution
  code significantly while offering stiffer results.

### Added

- Added multibody joints: joints based on the reduced-coordinates modeling. These joints can’t
  violate their positional constraint.
- Implement `Default` for most of the struct that supports it.

## v0.11.1

### Fixed

- Fix a bug causing large moving colliders to miss some collisions after some time.
- Fix invalid forces generated by contacts with position-based kinematic bodies.
- Fix a bug where two colliders without parent would not have their collision computed even if the
  appropriate flags were set.

## v0.11.0

Check out the user-guide for the JS/Typescript bindings for rapier. It has been fully rewritten and is now exhaustive!
Check it out on [rapier.rs](https://www.rapier.rs/docs/user_guides/javascript/getting_started_js)

### Added

- Joint limits are now implemented for all joints that can support them (prismatic, revolute, and ball joints).

### Modified

- Switch to  `nalgebra 0.29`.

### Fixed

- Fix the build of Rapier when targeting emscripten.

## v0.10.1

### Added

- Add `Collider::set_translation_wrt_parent` to change the translation of a collider with respect to its parent
  rigid-body.
- Add `Collider::set_rotation_wrt_parent` to change the translation of a collider with respect to its parent rigid-body.

## v0.10.0

### Added

- Implement `Clone` for `IslandManager`.

### Modified

- `JointSet::insert` no longer takes the rigid-body set in its arguments.
- Modify the testbed's plugin system to let plugins interact with the rendering.
- Implement `PartialEq` for most collider and rigid-body components.

## v0.9.2

### Added

- Make the method JointSet::remove_joints_attached_to_rigid_body public so that it can can be called externally for
  letting component-based Rapier integration call it to cleanup joints after a rigid-body removal.

### Fixed

- Fix a panic that could happen when the same collider is listed twice in the removed_colliders array.

## v0.9.1