chore: update changelog

CHANGELOG.md

@@ -1,8 +1,16 @@
+## Unreleased
+
+### Fix
+
+- Fix crash when simulating a spring joint between two dynamic bodies.
+
 ## 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`.
+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
@@ -11,11 +19,15 @@ with it directly or indirectly through contacts and joints): `RigidBodyBuilder::
 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 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 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
@@ -27,6 +39,7 @@ without affecting performance of the other parts of the simulation.
 - 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.
@@ -35,19 +48,24 @@ without affecting performance of the other parts of the simulation.
 - 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
@@ -61,37 +79,48 @@ without affecting performance of the other parts of the simulation.
 - 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
+  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
@@ -104,8 +133,8 @@ without affecting performance of the other parts of the simulation.
     - 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).
@@ -117,7 +146,9 @@ without affecting performance of the other parts of the simulation.
   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).
@@ -125,6 +156,7 @@ without affecting performance of the other parts of the simulation.
   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`.
@@ -137,6 +169,7 @@ without affecting performance of the other parts of the simulation.
   `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
@@ -149,7 +182,8 @@ without affecting performance of the other parts of the simulation.
 - 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`
+- 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
@@ -161,12 +195,15 @@ without affecting performance of the other parts of the simulation.
   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`,
@@ -180,11 +217,14 @@ without affecting performance of the other parts of the simulation.
   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.
@@ -194,6 +234,7 @@ without affecting performance of the other parts of the simulation.
 - 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`.
@@ -218,8 +259,10 @@ without affecting performance of the other parts of the simulation.
   `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.
@@ -227,10 +270,11 @@ reflected by an API change. See [#304](https://github.com/dimforge/rapier/pull/3
 - 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.
+    * 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).
@@ -240,9 +284,13 @@ reflected by an API change. See [#304](https://github.com/dimforge/rapier/pull/3
   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
@@ -253,63 +301,81 @@ reflected by an API change. See [#304](https://github.com/dimforge/rapier/pull/3
   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_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](https://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()`.
@@ -322,6 +388,7 @@ The user-guide has been fully rewritten and is now exhaustive! Check it out on [
   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).
@@ -330,6 +397,7 @@ The `RigidBodySet, ColliderSet, RigidBody, Collider` are still the best option f
 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.
@@ -339,6 +407,7 @@ provide their own component sets.
   `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`.
@@ -360,10 +429,12 @@ provide their own component sets.
 - 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`
@@ -377,55 +448,66 @@ provide their own component sets.
 - 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.
+  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).
+  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.
+  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).
+  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.
+  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
+  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.
+  `::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`.
+- `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.
@@ -433,42 +515,53 @@ Added the methods:
 - `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).
+  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 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.
+  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.
+  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.
@@ -478,22 +571,27 @@ Several geometric queries have been added to the `QueryPipeline`:
 - `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).
+  `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
@@ -502,42 +600,54 @@ Various RigidBody-related getter and setters have been added:
   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`
+
+- 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
+
+- 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.
+  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
@@ -546,6 +656,7 @@ Breaking changes related to events:
   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
@@ -554,6 +665,7 @@ Breaking changes related to events:
   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.
@@ -562,34 +674,43 @@ Breaking changes related to events:
 - 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
+  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`.
+- 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.
+- 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::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.
@@ -597,8 +718,8 @@ scene-wide queries. So far only ray-casting has been implemented.
 - 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.
+  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.
+  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.
+  collider was added before the other shape's collider or after.