nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Release v0.24.0 (#820)

Browse Source
This commit is contained in:
Sébastien Crozet
2025-04-10 12:44:58 +02:00
committed by GitHub
parent 1077faba16
commit ed7e6393b8
14 changed files with 43 additions and 39 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
CHANGELOG.md
View File

@@ -1,9 +1,13 @@
## Unreleased ## v0.24.0 (10 April 2025)
### Added ### Added
- `IntegrationParameters` now implements `PartialEq`. - `IntegrationParameters` now implements `PartialEq`.
### Modified
- Update dependencies (including `parry` 0.19).
## v0.23.1 (05 March 2025) ## v0.23.1 (05 March 2025)
### Added ### Added

4
crates/rapier2d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier2d-f64" name = "rapier2d-f64"
version = "0.23.1" version = "0.24.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "2-dimensional physics engine in Rust." description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d" documentation = "https://docs.rs/rapier2d"
@@ -68,7 +68,7 @@ vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true } web-time = { version = "1.1", optional = true }
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.33" nalgebra = "0.33"
parry2d-f64 = "0.18.0" parry2d-f64 = "0.19.0"
simba = "0.9" simba = "0.9"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

4
crates/rapier2d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier2d" name = "rapier2d"
version = "0.23.1" version = "0.24.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "2-dimensional physics engine in Rust." description = "2-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier2d" documentation = "https://docs.rs/rapier2d"
@@ -69,7 +69,7 @@ vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true } web-time = { version = "1.1", optional = true }
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.33" nalgebra = "0.33"
parry2d = "0.18.0" parry2d = "0.19.0"
simba = "0.9" simba = "0.9"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

4
crates/rapier3d-f64/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier3d-f64" name = "rapier3d-f64"
version = "0.23.1" version = "0.24.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "3-dimensional physics engine in Rust." description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d" documentation = "https://docs.rs/rapier3d"
@@ -71,7 +71,7 @@ vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true } web-time = { version = "1.1", optional = true }
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.33" nalgebra = "0.33"
parry3d-f64 = "0.18.0" parry3d-f64 = "0.19.0"
simba = "0.9" simba = "0.9"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

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

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier3d-meshloader" name = "rapier3d-meshloader"
version = "0.4.0" version = "0.5.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "STL file loader for the 3D rapier physics engine." description = "STL file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-meshloader" documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
profiling = "1.0" profiling = "1.0"
mesh-loader = "0.1.12" mesh-loader = "0.1.12"
rapier3d = { version = "0.23", path = "../rapier3d" } rapier3d = { version = "0.24", path = "../rapier3d" }

16
crates/rapier3d-meshloader/src/lib.rs
View File

@@ -33,11 +33,11 @@ pub enum MeshLoaderError {
/// # Parameters /// # Parameters
/// - `path`: the file’s path. /// - `path`: the file’s path.
/// - `converter`: controls how the shapes are computed from the content. In particular, it lets /// - `converter`: controls how the shapes are computed from the content. In particular, it lets
/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull, /// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
/// bounding box, etc. /// bounding box, etc.
/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will /// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored /// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
/// in [`LoadedShape::raw_mesh`] remains unscaled. /// in [`LoadedShape::raw_mesh`] remains unscaled.
pub fn load_from_path( pub fn load_from_path(
path: impl AsRef<Path>, path: impl AsRef<Path>,
converter: &MeshConverter, converter: &MeshConverter,
@@ -63,11 +63,11 @@ pub fn load_from_path(
/// # Parameters /// # Parameters
/// - `raw_mesh`: the raw mesh. /// - `raw_mesh`: the raw mesh.
/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets /// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull, /// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
/// bounding box, etc. /// bounding box, etc.
/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will /// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored /// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
/// in [`LoadedShape::raw_mesh`] remains unscaled. /// in [`LoadedShape::raw_mesh`] remains unscaled.
pub fn load_from_raw_mesh( pub fn load_from_raw_mesh(
raw_mesh: &Mesh, raw_mesh: &Mesh,
converter: &MeshConverter, converter: &MeshConverter,

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

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier3d-urdf" name = "rapier3d-urdf"
version = "0.4.0" version = "0.5.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "URDF file loader for the 3D rapier physics engine." description = "URDF file loader for the 3D rapier physics engine."
documentation = "https://docs.rs/rapier3d-urdf" documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
bitflags = "2" bitflags = "2"
urdf-rs = "0.9" urdf-rs = "0.9"
rapier3d = { version = "0.23", path = "../rapier3d" } rapier3d = { version = "0.24", path = "../rapier3d" }
rapier3d-meshloader = { version = "0.4.0", path = "../rapier3d-meshloader", default-features = false, optional = true } rapier3d-meshloader = { version = "0.5.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

14
crates/rapier3d-urdf/src/lib.rs
View File

@@ -221,9 +221,9 @@ impl UrdfRobot {
/// - `path`: the path of the URDF file. /// - `path`: the path of the URDF file.
/// - `options`: customize the creation of rapier objects from the URDF description. /// - `options`: customize the creation of rapier objects from the URDF description.
/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When /// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
/// a mesh reference is found in the URDF file, this `mesh_dir` is appended /// a mesh reference is found in the URDF file, this `mesh_dir` is appended
/// to the file path. If `mesh_dir` is `None` then the mesh directory is assumed /// to the file path. If `mesh_dir` is `None` then the mesh directory is assumed
/// to be the same directory as the one containing the URDF file. /// to be the same directory as the one containing the URDF file.
pub fn from_file( pub fn from_file(
path: impl AsRef<Path>, path: impl AsRef<Path>,
options: UrdfLoaderOptions, options: UrdfLoaderOptions,
@@ -249,8 +249,8 @@ impl UrdfRobot {
/// - `str`: the string content of an URDF file. /// - `str`: the string content of an URDF file.
/// - `options`: customize the creation of rapier objects from the URDF description. /// - `options`: customize the creation of rapier objects from the URDF description.
/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When /// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
/// a mesh reference is found in the URDF file, this `mesh_dir` is appended /// a mesh reference is found in the URDF file, this `mesh_dir` is appended
/// to the file path. /// to the file path.
pub fn from_str( pub fn from_str(
str: &str, str: &str,
options: UrdfLoaderOptions, options: UrdfLoaderOptions,
@@ -272,8 +272,8 @@ impl UrdfRobot {
/// - `robot`: the robot loaded from an URDF file. /// - `robot`: the robot loaded from an URDF file.
/// - `options`: customize the creation of rapier objects from the URDF description. /// - `options`: customize the creation of rapier objects from the URDF description.
/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When /// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
/// a mesh reference is found in the URDF file, this `mesh_dir` is appended /// a mesh reference is found in the URDF file, this `mesh_dir` is appended
/// to the file path. /// to the file path.
pub fn from_robot(robot: &Robot, options: UrdfLoaderOptions, mesh_dir: &Path) -> Self { pub fn from_robot(robot: &Robot, options: UrdfLoaderOptions, mesh_dir: &Path) -> Self {
let mut name_to_link_id = HashMap::new(); let mut name_to_link_id = HashMap::new();
let mut link_is_root = vec![true; robot.links.len()]; let mut link_is_root = vec![true; robot.links.len()];

4
crates/rapier3d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier3d" name = "rapier3d"
version = "0.23.1" version = "0.24.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "3-dimensional physics engine in Rust." description = "3-dimensional physics engine in Rust."
documentation = "https://docs.rs/rapier3d" documentation = "https://docs.rs/rapier3d"
@@ -73,7 +73,7 @@ vec_map = { version = "0.8", optional = true }
web-time = { version = "1.1", optional = true } web-time = { version = "1.1", optional = true }
num-traits = "0.2" num-traits = "0.2"
nalgebra = "0.33" nalgebra = "0.33"
parry3d = "0.18.0" parry3d = "0.19.0"
simba = "0.9" simba = "0.9"
approx = "0.5" approx = "0.5"
rayon = { version = "1", optional = true } rayon = { version = "1", optional = true }

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

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier_testbed2d-f64" name = "rapier_testbed2d-f64"
version = "0.23.1" version = "0.24.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust." description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.rs" homepage = "http://rapier.rs"
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier] [dependencies.rapier]
package = "rapier2d-f64" package = "rapier2d-f64"
path = "../rapier2d-f64" path = "../rapier2d-f64"
version = "0.23.0" version = "0.24.0"
features = ["serde-serialize", "debug-render", "profiler"] features = ["serde-serialize", "debug-render", "profiler"]

4
crates/rapier_testbed2d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier_testbed2d" name = "rapier_testbed2d"
version = "0.23.1" version = "0.24.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 2-dimensional physics engine in Rust." description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
homepage = "http://rapier.rs" homepage = "http://rapier.rs"
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier] [dependencies.rapier]
package = "rapier2d" package = "rapier2d"
path = "../rapier2d" path = "../rapier2d"
version = "0.23.0" version = "0.24.0"
features = ["serde-serialize", "debug-render", "profiler"] features = ["serde-serialize", "debug-render", "profiler"]

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

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier_testbed3d-f64" name = "rapier_testbed3d-f64"
version = "0.23.1" version = "0.24.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust." description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.rs" homepage = "http://rapier.rs"
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier] [dependencies.rapier]
package = "rapier3d-f64" package = "rapier3d-f64"
path = "../rapier3d-f64" path = "../rapier3d-f64"
version = "0.23.0" version = "0.24.0"
features = ["serde-serialize", "debug-render", "profiler"] features = ["serde-serialize", "debug-render", "profiler"]

4
crates/rapier_testbed3d/Cargo.toml
View File

@@ -1,6 +1,6 @@
[package] [package]
name = "rapier_testbed3d" name = "rapier_testbed3d"
version = "0.23.1" version = "0.24.0"
authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"] authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
description = "Testbed for the Rapier 3-dimensional physics engine in Rust." description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
homepage = "http://rapier.rs" homepage = "http://rapier.rs"
@@ -97,5 +97,5 @@ bevy = { version = "0.15", default-features = false, features = [
[dependencies.rapier] [dependencies.rapier]
package = "rapier3d" package = "rapier3d"
path = "../rapier3d" path = "../rapier3d"
version = "0.23.0" version = "0.24.0"
features = ["serde-serialize", "debug-render", "profiler"] features = ["serde-serialize", "debug-render", "profiler"]

4
src/pipeline/event_handler.rs
View File

@@ -38,8 +38,8 @@ pub trait EventHandler: Send + Sync {
/// * `bodies` - The set of rigid-bodies. /// * `bodies` - The set of rigid-bodies.
/// * `colliders` - The set of colliders. /// * `colliders` - The set of colliders.
/// * `contact_pair` - The current state of contacts between the two colliders. This is set to `None` /// * `contact_pair` - The current state of contacts between the two colliders. This is set to `None`
/// if at least one of the collider is a sensor (in which case no contact information /// if at least one of the collider is a sensor (in which case no contact information
/// is ever computed). /// is ever computed).
fn handle_collision_event( fn handle_collision_event(
&self, &self,
bodies: &RigidBodySet, bodies: &RigidBodySet,