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feat: solver improvements + release v0.29.0 (#876)

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* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes
This commit is contained in:
Sébastien Crozet
2025-09-05 19:31:58 +02:00
committed by GitHub
parent 317322b31b
commit 134f433903
94 changed files with 5066 additions and 8136 deletions
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7
crates/rapier2d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier2d-f64"
version = "0.28.0"
version = "0.29.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d"
@@ -69,8 +69,8 @@ vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true }
num-traits = "0.2"
nalgebra = "0.34"
parry2d-f64 = "0.23.0"
simba = "0.9"
parry2d-f64 = "0.24.0"
simba = "0.9.1"
approx = "0.5"
rayon = { version = "1", optional = true }
arrayvec = "0.7"
@@ -84,6 +84,7 @@ log = "0.4"
ordered-float = "5"
thiserror = "2"
profiling = "1.0"
static_assertions = "1"
[dev-dependencies]
bincode = "1"

14
crates/rapier2d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier2d"
version = "0.28.0"
version = "0.29.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d"
@@ -33,8 +33,8 @@ default = ["dim2", "f32"]
dim2 = []
f32 = []
parallel = ["dep:rayon"]
simd-stable = ["simba/wide", "simd-is-enabled"]
simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
simd-stable = ["simba/wide", "parry2d/simd-stable", "simd-is-enabled"]
simd-nightly = ["simba/portable_simd", "parry2d/simd-nightly", "simd-is-enabled"]
# Do not enable this feature directly. It is automatically
# enabled with the "simd-stable" or "simd-nightly" feature.
simd-is-enabled = ["dep:vec_map"]
@@ -70,8 +70,8 @@ vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true }
num-traits = "0.2"
nalgebra = "0.34"
parry2d = "0.23.0"
simba = "0.9"
parry2d = "0.24.0"
simba = "0.9.1"
approx = "0.5"
rayon = { version = "1", optional = true }
arrayvec = "0.7"
@@ -85,6 +85,10 @@ log = "0.4"
ordered-float = "5"
thiserror = "2"
profiling = "1.0"
static_assertions = "1"
# TODO: should be re-exported from simba
wide = "0.7.1"
[dev-dependencies]
bincode = "1"

7
crates/rapier3d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d-f64"
version = "0.28.0"
version = "0.29.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d"
@@ -72,8 +72,8 @@ vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true }
num-traits = "0.2"
nalgebra = "0.34"
parry3d-f64 = "0.23.0"
simba = "0.9"
parry3d-f64 = "0.24.0"
simba = "0.9.1"
approx = "0.5"
rayon = { version = "1", optional = true }
arrayvec = "0.7"
@@ -87,6 +87,7 @@ log = "0.4"
ordered-float = "5"
thiserror = "2"
profiling = "1.0"
static_assertions = "1"
[dev-dependencies]
bincode = "1"

4
crates/rapier3d-meshloader/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d-meshloader"
version = "0.9.0"
version = "0.10.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "STL file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
profiling = "1.0"
mesh-loader = "0.1.12"
rapier3d = { version = "0.28.0", path = "../rapier3d" }
rapier3d = { version = "0.29.0", path = "../rapier3d" }

6
crates/rapier3d-urdf/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d-urdf"
version = "0.9.0"
version = "0.10.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "URDF file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
bitflags = "2"
urdf-rs = "0.9"
rapier3d = { version = "0.28.0", path = "../rapier3d" }
rapier3d-meshloader = { version = "0.9.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
rapier3d = { version = "0.29.0", path = "../rapier3d" }
rapier3d-meshloader = { version = "0.10.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

10
crates/rapier3d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier3d"
version = "0.28.0"
version = "0.29.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d"
@@ -74,8 +74,8 @@ vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true }
num-traits = "0.2"
nalgebra = "0.34"
parry3d = "0.23.0"
simba = "0.9"
parry3d = "0.24.0"
simba = "0.9.1"
approx = "0.5"
rayon = { version = "1", optional = true }
arrayvec = "0.7"
@@ -89,6 +89,10 @@ log = "0.4"
ordered-float = "5"
thiserror = "2"
profiling = "1.0"
static_assertions = "1"
# TODO: should be re-exported from simba
wide = "0.7.1"
[dev-dependencies]
bincode = "1"

4
crates/rapier_testbed2d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed2d-f64"
version = "0.28.0"
version = "0.29.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.rs"
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier]
package = "rapier2d-f64"
path = "../rapier2d-f64"
version = "0.28.0"
version = "0.29.0"
features = ["serde-serialize", "debug-render", "profiler"]

4
crates/rapier_testbed2d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed2d"
version = "0.28.0"
version = "0.29.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.rs"
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier]
package = "rapier2d"
path = "../rapier2d"
version = "0.28.0"
version = "0.29.0"
features = ["serde-serialize", "debug-render", "profiler"]

4
crates/rapier_testbed3d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed3d-f64"
version = "0.28.0"
version = "0.29.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.rs"
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier]
package = "rapier3d-f64"
path = "../rapier3d-f64"
version = "0.28.0"
version = "0.29.0"
features = ["serde-serialize", "debug-render", "profiler"]

4
crates/rapier_testbed3d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package]
name = "rapier_testbed3d"
version = "0.28.0"
version = "0.29.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.rs"
@@ -97,5 +97,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier]
package = "rapier3d"
path = "../rapier3d"
version = "0.28.0"
version = "0.29.0"
features = ["serde-serialize", "debug-render", "profiler"]