Release v0.24.0

[sebcrozet]

v0.24.0 (27 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 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) by adding the AdditionalSolverIterations component to the
same entity as the rigid-body. 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.
• 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

• Rename RapierContext::contacts_with to RapierContext::contact_pairs_with.
• Rename RapierContext::intersections_with to RapierContext::intersection_pairs_with.
• Collisions between the character controller and sensors are now disabled by default.