Implement multibody joints and the new solver

crates/rapier2d/Cargo.toml

@@ -0,0 +1,67 @@
+[package]
+name    = "rapier2d"
+version = "0.11.1"
+authors = [ "Sébastien Crozet <developer@crozet.re>" ]
+description = "2-dimensional physics engine in Rust."
+documentation = "http://docs.rs/rapier2d"
+homepage = "http://rapier.rs"
+repository = "https://github.com/dimforge/rapier"
+readme = "README.md"
+categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
+keywords = [ "physics", "dynamics", "rigid", "real-time", "impulse_joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[badges]
+maintenance = { status = "actively-developed" }
+
+[features]
+default = [ "dim2", "f32", "default-sets" ]
+dim2    = [ ]
+f32     = [ ]
+default-sets = [ ]
+parallel = [ "rayon" ]
+simd-stable = [ "simba/wide", "simd-is-enabled" ]
+simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
+# Do not enable this feature directly. It is automatically
+# enabled with the "simd-stable" or "simd-nightly" feature.
+simd-is-enabled = [ "vec_map" ]
+wasm-bindgen = [ "instant/wasm-bindgen" ]
+serde-serialize = [ "nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
+enhanced-determinism = [ "simba/libm_force", "parry2d/enhanced-determinism", "indexmap" ]
+
+# Feature used for debugging only.
+debug-disable-legitimate-fe-exceptions = [ ]
+
+# Feature used for development and debugging only.
+# Do not enable this unless you are working on the engine internals.
+dev-remove-slow-accessors = []
+
+[lib]
+name = "rapier2d"
+path = "../../src/lib.rs"
+required-features = [ "dim2", "f32" ]
+
+
+[dependencies]
+vec_map = { version = "0.8", optional = true }
+instant = { version = "0.1", features = [ "now" ]}
+num-traits = "0.2"
+nalgebra = "0.30"
+parry2d = "0.8"
+simba = "0.7"
+approx = "0.5"
+rayon = { version = "1", optional = true }
+crossbeam = "0.8"
+arrayvec = "0.7"
+bit-vec = "0.6"
+rustc-hash = "1"
+serde = { version = "1", features = [ "derive" ], optional = true }
+indexmap = { version = "1", features = [ "serde-1" ], optional = true }
+downcast-rs = "1.2"
+num-derive = "0.3"
+bitflags = "1"
+
+[dev-dependencies]
+bincode = "1"
+serde = { version = "1", features = [ "derive" ] }