parry3d-f64

Added

• SharedShape now implements AsRef<dyn Shape>.
• Add the optional method Shape::compute_swept_aabb to the Shape trait.

Modified

• Renamed SimdQuadTree to Qbvh (Quaternary Bounding Volume Hierarchy). The incorrect name SimdQuadTree is now deprecated.
• Qbvh::clear_and_rebuild is now slightly more general.

Modified

• Switch to nalgebra 0.26.

Added

• Add a special case for the triangle/cuboid edge-edge case in the SAT implementation.
• Add contact manifold computation between a convex shape and a HalfSpace.
• Add a special case (instead of GJK) for computing the distance between a ball and a convex shape.
• Add a Shape::clone_box method to clone a shape trait-object.
• Add a Shape::make_mut method to take a mutable reference to the shape trait-object.
• Add methods like Shape::as_shape_mut to downcast a &mut Shape to a concrete mutable shape.
• Add MassProperties::set_mass as a simple way to modify the mass while automatically adjusting the angular inertia.
• Make the fields of BoundingSphere public.
• Add Aabb::EDGES_VERTEX_IDS and Aabb::FACES_VERTEX_IDS which are index tables describing the vertices of a given edge, or of a given face, of the Aabb.

Modified

• Remove the target_dist argument from query::time_of_impact.
• The RigidBodyMotion and all its implementors have been removed. Use the NonlinearRigidMotion struct instead.
• The query::nonlinear_time_of_impact function arguments changed completely to accommodate for the new NonlinearRigidMotion struct. See the doc of query::nonlinear_time_of_impact for details.

Fixed

• Fix the separation computation between a cuboid and a support-map shape in the SAT implementation.
• Fix a bug causing invalid results with query::time_of_impact whenever the first shape was rotated.

Added

• Add the Shape::as_typed_shape method to convert the shape trait-object to an enum.
• Add the TypedShape enum with variants containing references to concrete shapes (except for user-defined custom shapes).
• Add dedicated algorithms for the projection of a point on a cone or a cylinder.
• Improve the overall shape serialization performance.
• Add Aabb::vertices to get an array containing its vertices.
• Add Aabb::split_at_center to split an Aabb into 4 (in 2D) or 8 (in 3D) parts.
• Add Aabb::to_trimesh to compute the mesh representation of an Aabb.

Removed

• Remove the Shape::as_serialize method.

Fixed

• Fix a bug causing making some ball/convex shape contact manifold computation fail when they are penetrating deeply.