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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 correctly 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 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).
  • 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 througthe 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.

  • 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 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 exit 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 when 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 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 (formerly 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

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

Added

  • Add rapier::prelude::nalgebra so that the vector! and point! macros work out-of-the-box after importing the prelude: use rapier::prelude::*

v0.9.0

The user-guide has been fully rewritten and is now exhaustive! Check it out on rapier.rs

Added

  • A prelude has been added in order to simplify the most common imports. For example: use rapier3d::prelude::*
  • Add RigidBody::set_translation and RigidBody.translation().
  • Add RigidBody::set_rotation and RigidBody.rotation().
  • Add RigidBody::set_next_translation for setting the next translation of a position-based kinematic body.
  • Add RigidBody::set_next_rotation for setting the next rotation of a position-based kinematic body.
  • Add kinematic bodies controlled at the velocity level: use RigidBodyBuilder::new_kinematic_velocity_based or RigidBodyType::KinematicVelocityBased.
  • Add the cargo feature debug-disable-legitimate-fe-exceptions that can be enabled for debugging purpose. This will disable floating point exceptions whenever they happen at places where we do expect them to happen (for example some SIMD code do generate NaNs which are filtered out by lane-wise selection).

Modified

The use of RigidBodySet, ColliderSet, RigidBody, Collider is no longer mandatory. Rigid-bodies and colliders have been split into multiple components that can be stored in a user-defined set. This is useful for integrating Rapier with other engines (for example this allows us to use Bevy's Query as our rigid-body/collider sets).

The RigidBodySet, ColliderSet, RigidBody, Collider are still the best option for whoever doesn't want to provide their own component sets.

Rigid-bodies

  • Renamed BodyStatus to RigidBodyType.
  • RigidBodyBuilder::translation now takes a vector instead of individual components.
  • RigidBodyBuilder::linvel now takes a vector instead of individual components.
  • The RigidBodyBuilder::new_kinematic has be replaced by the RigidBodyBuilder::new_kinematic_position_based and RigidBodyBuilder::new_kinematic_velocity_based constructors.
  • The RigidBodyType::Kinematic variant has been replaced by two variants: RigidBodyType::KinematicVelocityBased and RigidBodyType::KinematicPositionBased.

Colliders

  • Colliderbuilder::translation now takes a vector instead of individual components.
  • The way PhysicsHooks are enabled changed. Now, a physics hooks is executed if any of the two colliders involved in the contact/intersection pair contains the related PhysicsHooksFlag. These flags are configured on each collider with ColliderBuilder::active_hooks. As a result, there is no PhysicsHooks::active_hooks method any more.
  • All events are now disabled for all colliders by default. Enable events for specific colliders by setting its active_events bit mask to ActiveEvents::CONTACT_EVENTS and/or ActiveEvents::PROXIMITY_EVENTS.
  • Add a simpler way of enabling collision-detection between colliders attached to two non-dynamic rigid-bodies: see ColliderBuilder::active_collision_types.
  • The InteractionGroups is now a structures with two u32 integers: one integers for the groups membership and one for the group filter mask. (Before, both were only 16-bits wide, and were packed into a single u32).
  • Before, sensor colliders had a default density set to 0.0 whereas non-sensor colliders had a default density of 1.0. This has been unified by setting the default density to 1.0 for both sensor and non-sensor colliders.
  • Colliders are no longer required to be attached to a rigid-body. Therefore, ColliderSet::insert only takes the collider as argument now. In order to attach the collider to a rigid-body, (i.e., the old behavior of ColliderSet::insert), use ColliderSet::insert_with_parent.
  • Fixed a bug where collision groups were ignored by CCD.

Joints

  • The fields FixedJoint::local_anchor1 and FixedJoint::local_anchor2 have been renamed to FixedJoint::local_frame1 and FixedJoint::local_frame2.

Pipelines and others

  • The field ContactPair::pair (which contained two collider handles) has been replaced by two fields: ContactPair::collider1 and ContactPair::collider2.
  • The list of active dynamic bodies is now retrieved with IslandManager::active_dynamic_bodies instead of RigidBodySet::iter_active_dynamic.
  • The list of active kinematic bodies is now retrieved with IslandManager::active_kinematic_bodies instead of RigidBodySet::iter_active_kinematic.
  • NarrowPhase::contacts_with now returns an impl Iterator<Item = &ContactPair> instead of an Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>>. The colliders handles can be read from the contact-pair itself.
  • NarrowPhase::intersections_with now returns an iterator directly instead of an Option<impl Iterator>.
  • Rename PhysicsHooksFlags to ActiveHooks.
  • Add the contact pair as an argument to EventHandler::handle_contact_event

v0.8.0

Modified

  • Switch to nalgebra 0.26.

v0.7.2

Added

  • Implement Serialize and Deserialize for the CCDSolver.

Fixed

  • Fix a crash that could happen after adding and then removing a collider right away, before stepping the simulation.

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.
  • NarrowPhase::maintain has been renamed to NarrowPhase::handle_user_changes.
  • BroadPhase::maintain has been removed. Use BroadPhase::update directly.

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 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 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 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 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.