rapier/CHANGELOG.md

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.

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.