3c85a6ac41
This adds a QueryPipeline structure responsible for scene queries. Currently this structure is able to perform a brute-force ray-cast. This commit also includes the beginning of implementation of a SIMD-based acceleration structure which will be used for these scene queries in the future.
16 lines
1.3 KiB
Plaintext
16 lines
1.3 KiB
Plaintext
## v0.2.0 - WIP
|
|
|
|
- Add `PhysicsPipeline::remove_collider(...)` to remove a collider from the `ColliderSet`.
|
|
- 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. |