rapier3d-f64

Fixed

• Multibody: guard against the instabilities the semi-implicit coriolis term can introduce when the mass matrix is near-singular. The free-velocity update is re-solved with the plain mass matrix whenever it injects more energy than the applied forces’ work.
• Motors and limits of multibody joints now honor their compliance (the CFM term was left out of the row’s effective mass), so their gains may need to be stiffer to settle as fast as before.
• Generic (multibody) joint constraints now reserve the exact number of jacobian rows they emit: an axis carrying both a motor and a limit produces two, exceeding the previous allocation.
• The impulses reported on contacts (and the contact-force events derived from them) are now the total impulse applied during the step, instead of one substep too many: they drop by 1 / (num_solver_iterations + 1) and no longer vary with warmstart_coefficient.
• MJCF: a geom’s margin is no longer loaded as a contact_skin, which made geoms rest that far apart. It is ignored below rapier’s speculative-contact distance, and becomes the body’s soft-CCD prediction above it (PairOverride::margin is removed).
• MJCF: actuators now load as MotorModel::ForceBased, matching MuJoCo gains, which are absolute generalized forces rather than accelerations.

Added

• Added public access to the testbed’s Window and GraphicsManager to enable custom rendering on third-party examples.

Release v0.35.0 (#982)

Added

• ContactForceEvent::first_tick: true on the step a pair's total contact force first exceeds its contact_force_event_threshold (coming from below it, or from separation), false while it stays above on consecutive steps — the analogue of PhysX's "threshold force found" vs "persists" report. The status resets when the force drops back below the threshold or the colliders separate.

• CoefficientCombineRule::GeometricMean: combines friction/restitution as sqrt(c1 * c2), the convention used by several other engines. It has the highest rule priority, and clamps negative coefficients to zero before the square root.

• DebugRenderStyle::sleep_eligible_color_multiplier: the debug-renderer now draws bodies that are eligible for sleep but still awake in a distinct color, making it easy to spot what is keeping a pile awake.

Fixed

• Wheel::rotation now accumulates from the wheel's own rolling direction on the contact plane (contact normal × axle, the same forward direction used by the friction update) instead of the chassis' index_forward_axis, so wheels visually spin whenever the vehicle actually rolls (adapted from PR #950 by @tomo0613).
• DynamicRayCastVehicleController no longer has unlimited braking friction when a wheel's side impulse is exactly zero (e.g. braking in a straight line): the skid clamp now applies to the forward impulse as well, so braking strength is bounded by friction_slip (PR #947 by @tomo0613).
• Angular joint limits are no longer restricted to (-π, π): the limit rows now measure the wrapped joint angle from the middle of the allowed range (with the joint axis as the row's jacobian, like the angular motor rows), so a range may sit anywhere on the circle ([0, 3π/2] stops the joint at 3π/2 instead of π/2, and ranges crossing the ±π seam like [3π/4, 5π/4] work at all). A range wider than a full turn is indistinguishable from "no limit" for an angle read off a relative rotation, so it now leaves the axis free instead of clamping it at some folded-back angle.
• Joint limit rows (linear and angular) now cap their position-correction bias by IntegrationParameters::max_corrective_velocity, like contacts always did: a deep limit violation recovers over a few steps instead of catapulting the bodies.
• Python: DynamicRayCastVehicleController.update_vehicle now excludes the chassis body from the suspension raycasts by default (their origins sit on its own collider).
• The character controller's snap-to-ground now triggers on any movement that isn't upwards, including movements exactly orthogonal to the up vector, instead of requiring a downward motion larger than an arbitrary epsilon. Purely lateral movement along the ground no longer flickers the grounded flag when snap-to-ground is enabled (PR #481 by @ChrisJanssens).
• Restitution is now applied as an end-of-step pass instead of during the velocity solve, so contacts detected speculatively (within the prediction distance) bounce with the requested coefficient instead of being damped away by the prediction distance (issue #974).
• SIMD joint constraints now build their local frames relative to the body's center of mass, fixing joints on bodies whose center of mass isn't at their origin (PR #953 by @Kyzzsa).
• The broad phase now filters candidate pairs by collision groups, so colliders that can never interact don't reach the narrow phase at all (issue #288).
• ContactForceEvent sums the pair's solver manifolds, so contact clustering no longer makes the reported force and contact point disagree with what the solver applied.
• Generic (multibody) contact constraints now rebuild their anchors in the same frames the substep update uses, fixing multibodies welded to rigid-bodies never settling (issue #968).
• RigidBodyBuilder::additional_mass on a body whose colliders are all massless (zero density) now derives the angular inertia from the collider shapes instead of leaving it null, so such bodies rotate (issue #666).
• Joints specified through a subset of their axes now complete the missing frame axes with a twist-consistent minimal rotation, so a prismatic joint whose axis isn't x no longer picks an arbitrarily rolled frame (issue #746).
• RigidBody::sleep() is now honored immediately, even when the body was repositioned during the same frame (issue #448).
• ImpulseJointSet::joints_between now yields every joint between the two bodies instead of only the first (issue #866).
• CollisionPipeline::step now clears the rigid-bodies' modified flags, so a collision-only pipeline no longer accumulates stale change tracking (issue #662).
• Contact impulses are stored with canonicalized signed zeros, removing a source of cross-platform divergence with enhanced-determinism.
• The debug-renderer now draws the border radius of 2D round triangles (issue #634).
• Testbed: objects no longer flash visible for one frame when the surface rendering is disabled (issue #843).

Modified

• The broad phase no longer creates pairs between colliders attached to the same rigid-body (they can never collide). A single awake body carrying thousands of mutually-overlapping colliders previously flooded the pair map and contact graph with pairs the narrow phase re-discarded every step; the issue #970 scene (2,210 convex colliders on one always-awake body) steps ~90x faster while stationary and ~18x faster while moving. Note that NarrowPhase::contact_pair now returns None for same-parent colliders instead of a manifold-less pair.
• Sleep eligibility is now judged on the actual per-step pose displacement (measured at the body’s farthest point) instead of the velocities: a body held in place by contacts can sleep even with residual solver velocities, while a body creeping through solver position corrections cannot.
• With the block-solver feature, manifolds whose 2x2 constraint matrix is almost singular (e.g. redundant contact points) are now solved with the sequential solver instead of a degraded one-point solve, removing residual jiggle in piles. The block solver also uses the same lexicographic manifold point ordering as the sequential solver.
• Improved 3D solver performance by caching the constraints angular jacobians instead of recomputing them at each solver iteration.

Breaking changes

• ⚠ Removed the simd-stable, simd-nightly and simd-is-enabled features: SIMD is now always on, backed by wide (which falls back to scalar code where unsupported); the nightly core::simd backend is gone (we will support it when it get stabilized). Just drop these features from your Cargo.toml.
• ⚠ PhysicsHooks and EventHandler now require Sync instead of Send + Sync (through the blanket-implemented utils::MaybeSync). Existing implementations keep compiling.
• ⚠ Sleeping was rewritten around persistent islands: an island sleeps and wakes strictly as a unit, so a body is never frozen while something it touches still moves. The IslandManager and RigidBodyActivation serialization formats changed.
• ⚠ Sleep thresholds changed: normalized_linear_threshold defaults to 0.05 (was 0.4, and is now measured at the body’s farthest point) and time_until_sleep to 0.5 seconds (was 2.0).
• ⚠ Awake bodies are solved as a single active set: IntegrationParameters::min_island_size was removed.
• ⚠ The CCD solver was rewritten around sweep-based time of impact: each fast body is clamped to its earliest impact (pose only; velocities resolve through speculative contacts), and already-touching pairs no longer pin the body in place. CCDSolver::predict_impacts_at_next_positions/clamp_motions, PredictedImpacts and TOIEntry were replaced by CCDSolver::solve_continuous.
• ⚠ Fast dynamic bodies now always run CCD against fixed colliders; ccd_enabled upgrades a body to a "bullet" that also sweeps kinematic and dynamic bodies. Set IntegrationParameters::max_ccd_substeps to 0 to disable CCD entirely.
• ⚠ Body velocities are now capped each substep: linear speed at IntegrationParameters::max_linear_velocity() (default 400 units/s) and rotation at ~45° per step (RigidBody::set_allow_fast_rotation bypasses the angular cap). RigidBodyCcd::ccd_max_dist became RigidBody::max_extent(), which max_point_velocity now takes as an argument.
• ⚠ Contact defaults changed: normalized_prediction_distance is 0.02 (was 0.002), normalized_max_corrective_velocity is 3.0 (was 10.0) and normalized_allowed_linear_error is 0.005 (was 0.001), greatly reducing tunneling through thin walls. Contacts against fixed bodies use a stiffer spring (IntegrationParameters::static_contact_softness).
• ⚠ SolverContact stores per-body anchors instead of a single world point, and friction and restitution became per-manifold (new friction/restitution fields on ContactModificationContext, instead of per-contact). Inside PhysicsHooks::modify_solver_contacts the anchors still hold fresh world-space points, and dist edits are still honored. ContactModificationContext::solver_contacts is now a SolverContacts (an inline ArrayVec in 2D, still a Vec in 3D).
• ⚠ ContactPair can now store reduced solver clusters alongside its manifolds; use ContactPair::solver_manifolds() to read what the solver actually sees.
• ⚠ RigidBody::additional_solver_iterations now adds whole solver substeps for the body’s constraint-connected component, converging much better on high mass ratios.

Added

• NaN/infinity quarantine: bodies and colliders whose pose, velocity or geometry goes non-finite are rolled back to their last valid pose, disabled, and reported through PhysicsPipeline::quarantine()/PhysicsWorld::quarantine() (new Quarantine type), instead of corrupting the rest of the simulation.
• Thread-pool API on PhysicsPipeline/PhysicsWorld (parallel feature): configure_thread_pool, set_thread_pool, thread_pool, clear_thread_pool and num_threads. When set, the whole step runs inside that pool.
• enhanced-determinism can now be combined with parallel, with results bitwise identical for any thread-pool size, and costs no measurable performance anymore (cross-platform determinism now rests on glam’s shared scalar core plus libm-pinned transcendentals). It remains incompatible with simd8, and cross-platform reproducibility still requires matching numeric features (block-solver, f32 vs f64).
• New simd8 feature: widens the solver’s SIMD from 4 to 8 lanes (f32 only; needs an AVX2-capable target to emit 256-bit instructions).
• New block-solver feature (on by default in 2D): solves adjacent contact points as coupled 2x2 blocks for better resting-stack stability.
• New unsync-callbacks feature: drops the Sync requirement from PhysicsHooks and EventHandler for thread-affine callbacks (a JS closure, a GUI handle). Callbacks then all run on the thread driving step(), and the thread-pool API above is compiled out (install a pool by stepping from inside it). Parallelism is kept: only the pairs that can reach a callback are held back for the driving thread.
• New solver-bounds-checks feature: validates the solver’s body indices at constraint generation, turning a stale index into a clean panic instead of an unchecked SIMD gather.
• ColliderBuilder::oriented_polyline (2D): a one-sided polyline that only collides on the side determined by vertex winding.
• IntegrationParameters::contact_clustering and contact_recycling (both on by default, plus normalized_contact_recycle_distance): reduce narrow-phase and solver work on composite-shape and resting contacts.
• IntegrationParameters::friction_in_bias_pass and warmstart_joints solver tuning knobs.

Modified

• The narrow phase and constraint solver were reworked around a persistent contact graph and a staged multithreaded solver (parallelism within a single island), for lower per-step overhead and steadier timings; multithreaded trajectories may shift within solver tolerance.
• The broad phase was reworked for large, mostly-static worlds: scenes with very large static collider counts now pay near-zero per-step broad-phase cost.
• Gyroscopic forces are applied per-substep in the principal inertia frame, improving fast-spinning asymmetric bodies.
• Removed the x86 flush-to-zero/denormals-are-zero floating-point flag: it mutated a process-wide control register behind the user’s back.

Release v0.34.0 (#958)

Added

• Multibody joints now support a per-DoF armature (reflected rotor inertia, matching MuJoCo's concept), exposed via Multibody::armature() / armature_mut(). The related Multibody::dof_inverse_inertia() returns the articulated DoF inverse inertia including armature.
• Multibody joints now support passive per-DoF springs (MuJoCo-style spring/damper) via MultibodyJoint::set_spring() / spring(), integrated implicitly.
• Multibody joints now support holonomic DoF coupling: constrain one generalized coordinate to another via MultibodyDofCoupling and Multibody::add_dof_coupling() / couplings().
• MultibodyLink::assembly_id() exposes the offset of a link's DoFs in the multibody's generalized coordinate/velocity vectors.
• rapier3d-mjcf: support for tendons, equality constraints, materials (including visual-mesh materials), actuator max-force, joint DoF coupling, armature, per-DoF spring/damper, and control.
• Testbed: the ability to specify a material.

Fixed

• Corrected the local frame of impulse joints attached to multibodies.
• Added a missing coupling term for loop-closing impulse-joint constraints (bodies with a non-zero center-of-mass offset).
• Fixed a crash occurring with the parallel feature enabled.

Modified

• Breaking (rapier_testbed only): the testbed was reworked to remove the callback-based API. Harness::add_callback / clear_callbacks and the HarnessPlugin trait were removed, and several testbed/harness types (RunState, PhysicsState, RapierBroadPhaseType, TestbedApp::from_builders / set_builders, etc.) were changed. Simulation setup now drives the physics world directly instead of registering per-step callbacks. The core rapier2d/rapier3d physics API is unaffected.

Release v0.33.0 (#944)

Added

• New mjcf-rs and rapier3d-mjcf crates: a pure-Rust (no libmujoco/FFI) loader for the MuJoCo MJCF XML format. mjcf-rs parses MJCF into a typed AST — resolving <include>, <default> class inheritance, angle units, and the several rotation specs (quat, axisangle, euler, xyaxes, zaxis) — and rapier3d-mjcf converts a model into rigid-bodies, colliders, and joints via MjcfRobot. Meshes load behind the stl/wavefront/msh features, and visual meshes support per-vertex normals with optional smoothing (#936, #943).
• Python bindings for Rapier 2D/3D (rapier-py-* crates under python/), generated and published as installable wheels (#938).
• New PhysicsWorld convenience wrapper bundling RigidBodySet, ColliderSet, the broad/narrow phases, islands, joints, the CCD solver, gravity, and integration parameters in a single struct, for simpler setup of basic simulations. It also exposes helpers for waking bodies (wake_up, wake_up_all), iterating only active bodies (active_bodies), and iterating joints — including those attached to a given body (impulse_joints, impulse_joints_with, multibody_joints, multibody_joints_with).
• std/alloc feature gating: no_std builds are now supported, and a subset of the library compiles without alloc as well (e.g. for spirv targets) (#928).
• InteractionGroups and Group now derive bytemuck::NoUninit under the bytemuck feature, and InteractionTestMode is #[repr(u32)], making them GPU-uploadable.
• MultibodyJoint::joint_rot() and MultibodyJoint::coords() expose the joint’s rotation and generalized coordinates publicly.
• ImpulseJointSet::set_bodies rewires an existing impulse joint to a new pair of bodies while preserving its handle, configuration, and warm-started impulses.
• rapier3d-urdf:
  • New UrdfLoaderOptions::mesh_converter lets the loader replace the original mesh with a cheap proxy shape (e.g. MeshConverter::Obb) while keeping the source mesh available for rendering via the new UrdfCollider::visual / UrdfVisual types.
  • New UrdfLoaderOptions::scale applies a uniform scale to link positions, joint anchors, mesh sizes, primitive shape sizes, inertial offsets, and prismatic joint limits.
  • New UrdfLoaderOptions::squeeze_empty_fixed_links (default true) removes empty links connected by fixed joints, splicing the kinematic chain so bodyless “frame-only” links (e.g. world, *_tcp) no longer create mass-less rigid-bodies.
  • URDF files with empty <geometry></geometry> blocks are now accepted (sanitized before parsing, then skipped when building colliders).
  • The urdf_rs crate is re-exported.

Fixed

• QueryPipeline::project_point now honors its max_dist argument (it was previously ignored).
• Several multibody-related crashes (#906, #907, #908, #927).
• Continuous Collision Detection now consults the user's PhysicsHooks::filter_contact_pair hook, matching narrow-phase semantics. Previously, CCD would clamp a fast-moving body's motion at a predicted impact with a pair the user had filtered out (#929, closes #754).
• Corrected the documentation of RigidBody::add_force / add_torque / reset_forces / reset_torques: user-defined forces and torques are not cleared automatically between steps and persist until explicitly reset (#903).

Modified

• Unify version numbers for rapier3d-urdf, rapier3d-meshloader, and rapier3d-mjcf so they follow the same versioning as the other libraries in the workspace.
• Breaking (CCD solver direct callers only): CCDSolver::find_first_impact and CCDSolver::predict_impacts_at_next_positions now take an extra hooks: &dyn PhysicsHooks argument. PhysicsPipeline::step callers are unaffected.
• Breaking: QueryPipeline::project_point_and_get_feature now takes an additional max_dist: Real argument.
• Breaking (rapier3d-urdf): UrdfLink::colliders and UrdfLinkHandle::colliders changed from Vec<Collider> / Vec<ColliderHandle> to Vec<UrdfCollider> / Vec<UrdfColliderHandle> to carry the optional visual mesh override.
• Behavior change (rapier3d-urdf): with squeeze_empty_fixed_links defaulting to true, empty links bridged by fixed joints are now collapsed by default. Set it to false to keep the previous behavior.
• Update glamx to 0.3.
• Updated wide version to 1 (#902).

feat: migrate to glam whenever relevant + migrate testbed to kiss3d i…

Modified

• Breaking: Migrate math types from nalgebra to glam (via parry). The main type aliases are now:
  • Isometry<Real> → Pose (glamx Pose2/3)
  • Point<Real> → Vector for world-space positions (parry no longer distinguishes Point from Vector)
  • Rotation<Real> → Rotation (glamx Rot2 or Quat)
  • Translation<Real> → removed, use Pose::from_translation()
  • nalgebra is still used internally for SIMD code and multibody Jacobians (via SimdVector<N>, SimdPose<N>, DVector, DMatrix).
• Breaking: Several getters now return by value instead of by reference:
  • RigidBody::linvel() returns Vector instead of &Vector<Real>
  • RigidBody::angvel() returns AngVector instead of &Vector<Real> (3D) or Real (2D)
  • RigidBody::center_of_mass() returns Vector instead of &Point<Real>
  • RigidBody::local_center_of_mass() returns Vector instead of &Point<Real>
  • Collider::translation() returns Vector instead of &Vector<Real>
  • Collider::rotation() returns Rotation instead of &Rotation<Real>
• Breaking: DebugRenderBackend::draw_line signature changed: takes Vector instead of Point<Real> for line endpoints.
• Breaking: DebugRenderBackend::draw_polyline and draw_line_strip now take &Pose and Vector instead of &Isometry<Real> and &Vector<Real>.
• Testbed migrated from Bevy to kiss3d for lighter dependencies and simpler maintenance.
• Removed benchmarks2d and benchmarks3d crates (merged with examples2d and examples3d).

Migration guide

If your codebase currently relies on nalgebra, note that nalgebra and glamx provide type conversion. Enable the corresponding features:

• nalgebra = { version = "0.34", features = [ "convert-glam030" ] }
• glamx = { version = "0.1", features = ["nalgebra"] } then you can convert between glam and nalgebra types using .into().

1. Type changes: Replace Isometry<Real> with Pose, and Point<Real> with Vector for positions.
2. Pose construction:
   • Isometry::identity() → Pose::IDENTITY
   • Isometry::translation(x, y, z) → Pose::from_translation(Vector::new(x, y, z))
   • Isometry::rotation(axis_angle) → Pose::from_rotation(Rotation::from_scaled_axis(axis_angle))
   • isometry.translation.vector → pose.translation
   • isometry.rotation.scaled_axis() → pose.rotation.to_scaled_axis()
3. Getter usage: Remove & or .clone() when using linvel(), angvel(), center_of_mass(), translation(), rotation() since they now return by value.
4. Debug renderer: Update DebugRenderBackend implementations to use Vector instead of Point<Real>.
5. glam access: The glamx crate is re-exported as rapier::glamx for direct glam type access if needed.

• InteractionGroups struct now contains InteractionTestMode. Continues rapier/pull/170 for rapier/issues/622
• InteractionGroups constructor now requires an InteractionTestMode parameter. If you want same behaviour as before, use InteractionTestMode::And (eg. InteractionGroups::new(Group::GROUP_1, Group::GROUP_1, InteractionTestMode::And))
• CoefficientCombineRule::Min - now makes sure it uses a non zero value as result by using coeff1.min(coeff2).abs()
• InteractionTestMode: Specifies which method should be used to test interactions. Supports AND and OR.
• CoefficientCombineRule::ClampedSum - Adds the two coefficients and does a clamp to have at most 1.
• Rename ColliderChanges::CHANGED to ::IN_CHANGED_SET to make its meaning more precise.
• Rename RigidBodyChanges::CHANGED to ::IN_CHANGED_SET to make its meaning more precise.
• Fix colliders ignoring user-changes after the first simulation step.
• Fix broad-phase incorrectly taking into account disabled colliders attached to an enabled dynamic rigid-body.
• Grouped IntegrationParameters::contact_natural_frequency and IntegrationParameters::contact_damping_ratio behind a single IntegrationParameters::contact_softness (#789).
• Removed the Integration_parameters methods related to erp and cfm. They are now methods of the IntegrationParameters::softness and GenericJoint::softness fields (#789).
• Removed IntegrationParameters::joint_natural_frequency and IntegrationParameters::joint_damping_ratio in favor of per-joint softness coefficients GenericJoint::softness (#789).
• Make SolverContact::contact_id public so that user code knows what geometric contact it originates from (#888).

Release v0.30.1 (#886)

• Kinematic rigid-bodies will no longer fall asleep if they have a nonzero velocity, even if that velocity is very small. The rationale is that, since that velocity is chosen by the user, they really want the platform to move even if the speed is low.
• Fix bug where kinematic bodies would ignore the wake_up flag passed to set_linear_velocity and set_angular_velocity.
• Add serde derives to PdController, PidController and DynamicRaycastVehicle controllers.

• Update to parry 0.25 (which involves breaking changes in the Voxels API but improves its internal storage to support large voxel maps).

This version contains a significant rework of the internal velocity constraints solver. This makes it both simpler and more optimized (making the whole simulation up to 25% faster). For details on all the changes, see #876.

Notable changes include:

• Update to parry 0.24 (includes a breaking change where all the *angular_inertia_sqrt fields and functions have been replaced by their non-square-root equivalent.
• Fixed bug where friction on kinematic bodies would affect dynamic bodies much more weakly than it should.
• In 3D, added a new friction model that is more efficient than the traditional Coulomb friction. This new simplified model is enabled by default and can be changed with IntegrationParameters::friction_model.
• Removed support for the legacy PGS solver. Removed IntegrationParameters::pgs_legacy and ::tgs_soft_without_warmstart.

Modified

• Update to nalgebra 0.34 and parry 0.23.
• Only run the broad-phase once at the beginning of the physics step.
• Don’t rebuild a BVH from scratch for CCD. Instead, reuse the broad-phase bvh with localized changes.
• The public methods of IslandSolver has changed slightly to take the broad-phase as input.
• Removed the BroadPhase trait and use the BVH broad-phase directly instead of a trait-object.

Added

• Add Collider::compute_broad_phase_aabb to compute the AABB to be used by the broad-phase, taking into account its contact skin, prediction, and soft-ccd.

Fix

• Fix issue where some solver contacts would disappear from the contact graph before the user had a chance to read them.

Modified

• Modified the QueryPipeline API to take some geometric elements by-value instead of by-reference to make them easier to use.
• Modified the character controller to take the query-pipeline by reference instead of by-value.

Fixed

• Fix crash in the new BVH broad-phase when removing colliders in a particular order.

Modified

• Replace the hierarchical SAP broad-phase by a broad-phase based on parry’s new BVH structure.
• The QueryPipeline is now and ephemeral object obtained from the broad-phase with broad_phase.as_query_pipeline(). It no longer needs to be updated separately from the broad-phase.

Fixed

• Fix NaN resulting from non-clamped input to simd_asin in angular motor solver.

Added

• Add RigidBodySet::get_pair_mut and ColliderSet::get_pair_mut to get two mutable rigid-bodies or colliders simultaneously.

Modified

• Update to parry 0.21.0. This changes the initialization of Voxels colliders by removing the primitive geometry argument. This also fixes intersection checks with voxels, and force calculation between voxels and other voxels or compound shapes.

Modified

• Pin parry version to 0.20.1.

Added

• Added support for parry’s new Voxels collider shape with ColliderBuilder::voxels, ColliderBuilder::voxels_from_points, and ColliderBuilder::voxelized_mesh.
• MeshConverter now implements Copy.

Modified

• Update parry to 0.20.0.

Added

• IntegrationParameters now implements PartialEq.

Modified

• Update dependencies (including parry 0.19).

Added

• Add PdController and PidController for making it easier to control dynamic rigid-bodies at the velocity level. This can for example be used as a building block for a dynamic character controller.
• Add RigidBodyPosition::pose_errors to compute the translational and rotational delta between RigidBodyPosition::position and ::next_position.
• Implement Sub for RigidBodyVelocity.
• Add RigidBody::local_center_of_mass() to get its center-of-mass in the rigid-body’s local-space.

Fix

• The broad-phase region key has been replaced by an i64 in the f64 version of rapier, increasing the range before panics occur.
• Fix BroadphaseMultiSap not being able to serialize correctly with serde_json.
• Fix KinematicCharacterController::move_shape not respecting parameters max_slope_climb_angle and min_slope_slide_angle.
• Improve ground detection reliability for KinematicCharacterController. (#715)
• Fix wasm32 default values for physics hooks filter to be consistent with native: COMPUTE_IMPULSES.
• Fix changing a collider parent when ongoing collisions should be affected (#742):
  • Fix collisions not being removed when a collider is parented to a rigidbody while in collision with it.
  • Fix collisions not being added when the parent was removed while intersecting a (previously) sibling collider.

Added

• RigidBodySet and ColliderSet have a new constructor with_capacity.
• Use profiling crate to provide helpful profiling information in different tools.
  • The testbeds have been updated to use puffin_egui

Modified

• InteractionGroups default value for memberships is now GROUP_1 (#706)
• ImpulseJointSet::get_mut has a new parameter wake_up: bool, to wake up connected bodies.
• Removed unmaintained instant in favor of web-time. This effectively removes the wasm-bindgen transitive dependency as it's no longer needed.
• Significantly improve performances of QueryPipeline::intersection_with_shape.

Fix

• Fix crash when removing a multibody joint, or a rigid-body with a multipody-joint attached to it.
• Fix crash when inserting multibody joints in an arbitrary order (instead of incrementally from root to leaf).
• Fix BroadphaseMultiSap not being able to serialize a field with serde_json.

Added

• Implement rotation gizmo for Ball 2D shape (as radius line) in Debug renderer if DebugRenderMode::COLLIDER_SHAPES enabled
• Implement Debug for ColliderSet, InteractionGraph, MultibodyLink, MultibodyJointSet, Multibody, ImpulseJointSet

Modified

• Update parry to v0.17. Refer to its changelog for further details.
• Divided by two the value of each QueryFilterFlags variant so that the smallest one is 1 instead of 2 (fixes a bug in rapier.js).
• BroadphaseMultiSap now serializes its colliders_proxy_ids as Vec[(ColliderHandle, BroadPhaseProxyIndex)].

Fix

• Fix NaN values appearing in bodies translation and rotation after a simulation step with a delta time equal to 0 (#660).
• Fix crash in the SAP broad-phase when teleporting an object.

Modified

• Update to nalgebra 0.33 and parry 0.16.
• solve_character_collision_impulses collisions parameter is now an iterator over references.

This release introduces two new crates:

• rapier3d-urdf for loading URDF files into rapier3d. This will load the rigid-bodies, colliders, and joints.
• rapier3d-stl for loading an STL file as a collision shape.

Added

• Add Multibody::inverse_kinematics, Multibody::inverse_kinematics_delta, and ::inverse_kinematics_delta_with_jacobian for running inverse kinematics on a multibody to align one its links pose to the given prescribed pose.
• Add InverseKinematicsOption to customize some behaviors of the inverse-kinematics solver.
• Add Multibody::body_jacobian to get the jacobian of a specific link.
• Add Multibody::update_rigid_bodies to update rigid-bodies based on the multibody links poses.
• Add Multibody::forward_kinematics_single_link to run forward-kinematics to compute the new pose and jacobian of a single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are taken into account during transform propagation.
• Implement Debug for ColliderBuilder.
• Add Collider::converted_trimesh and MeshConverter for building a collider with a shape computed from a mesh’s index and vertex buffers. That computed shape can currently be a TriMesh, a Cuboid (covering the mesh’s AABB or OBB), a convex hull, or a convex decomposition.
• Implement Default for RigidBodyBuilder. This is equivalent to RigidBodyBuilder::dynamic().
• Implement Default for ColliderBuilder. This is equivalent to ColliderBuilder::ball(0.5).
• Add RevoluteJoint::angle to compute the joint’s angle given the rotation of its attached rigid-bodies.

Modified

• Renamed JointAxesMask::X/Y/Z to ::LIN_X/LIN_Y/LIN_Z; and renamed JointAxesMask::X/Y/Z to ::LinX/LinY/LynZ to make it clear it is not to be used as angular axes (the angular axis are JointAxesMask::ANG_X/ANG_Y/AngZ and JointAxesMask::AngX/AngY/AngZ).
• The contact constraints regularization parameters have been changed from erp/damping_ratio to natural_frequency/damping_ratio. This helps define them in a timestep-length independent way. The new variables are named IntegrationParameters::contact_natural_frequency and IntegrationParameters::contact_damping_ratio.
• The IntegrationParameters::normalized_max_penetration_correction has been replaced by ::normalized_max_corrective_velocity to make the parameter more timestep-length independent. It is now set to a non-infinite value to eliminate aggressive "popping effects".
• The Multibody::forward_kinematics method will no longer automatically update the poses of the RigidBody associated to each joint. Instead Multibody::update_rigid_bodies has to be called explicitly.
• The Multibody::forward_kinematics method will automatically adjust the multibody’s degrees of freedom if the root rigid-body changed type (between dynamic and non-dynamic). It can also optionally apply the root’s rigid-body pose instead of the root link’s pose (useful for example if you modified the root rigid-body pose externally and wanted to propagate it to the multibody).
• Remove an internal special-case for contact constraints on fast contacts. The doesn’t seem necessary with the substep solver.
• Remove RigidBody::add_collider. This was an implementation detail previously needed by bevy_rapier. To attach a collider to a rigid-body, use ColliderSet::insert_with_parent or ColliderSet::set_parent.
• Rename JointAxis::X/Y/Z to ::LinX/LinY/LinZ to avoid confusing it with ::AngX/AngY/AngZ.
• Rename JointAxesMask::X/Y/Z to ::LIN_X/LIN_Y/LIN_Z to avoid confusing it with ::ANG_X/ANG_Y/ANG_Z.
• The function RigidBody::add_collider is now private. It was only public because it was needed for some internal bevy_rapier plumbings, but it is no longer useful. Adding a collider must always go through the ColliderSet.
• CharacterController::solve_character_collision_impulses now takes multiple CharacterCollision as parameter: this change will allow further internal optimizations.
• QueryPipeline::update now doesn't need the RigidBodySet as parameter.
• Removed QueryPipelineMode.
• QueryPipeline::update_with_mode was renamed to ::update_with_generator and now takes impl QbvhDataGenerator<ColliderHandle> as parameter see [QueryPipeline::updaters] module for more information.

Fix

• Fix crash when simulating a spring joint between two dynamic bodies.
• Fix kinematic bodies not being affected by gravity after being switched back to dynamic.
• Fix regression on contact force reporting from contact force events.
• Fix kinematic character controller getting stuck against vertical walls.
• Fix joint limits/motors occasionally not being applied properly when one of the attached rigid-bodies is fixed.
• Fix an issue where contacts would be completely ignored between two convex shapes.

Added

Many stability improvements were added as part of this release. To see illustrations of some of these changes, see #625.

• Add RigidBody::predict_position_using_velocity to predict the next position of the rigid-body based only on its current velocity.
• Add Collider::copy_from to copy most collider attributes to an existing collider.
• Add RigidBody::copy_from to copy most rigid-body attributes to an existing rigid-body.
• Add the BroadPhase trait and expect an implementor of this trait as input to PhysicsPipeline::step.
• Implement a 2D block-solver as well as warmstarting. Significantly improves stacking capabilities. Generally reduces the "pop" effect that can happen due to penetration corrections.
• Add RigidBodyBuilder::soft_ccd_prediction and RigidBody::set_soft_ccd_prediction to enable soft-ccd: a form of CCD based on predictive contacts. This is helpful for objects moving moderately fast. This form of CCD is generally cheaper than the normal (time-dropping) CCD implemented so far. It is possible to combine both soft-ccd and time-dropping ccd.
• Add a ColliderBuilder::contact_skin, Collider::set_contact_skin, and Collider::contact_skin. This forces the solver te maintain a gap between colliders with non-zero contact skin, as if they had a slight margin around them. This helps performance and stability for thin objects (like triangle meshes).
• Internal edges were reworked to avoid dropping contacts that would help with stability, and improve stability of collisions between two triangle meshes. The TriMeshFlags::FIX_INTERNAL_EDGES and HeightFieldFlags::FIX_INTERNAL_EDGES flags were added to enable internal edges handling.
• Add IntegrationParameters::length_units to automatically adjust internal thresholds when the user relies on custom length units (e.g. pixels in 2D).

Modified

Many shape-casting related functions/structs were renamed. Check out the CHANGELOG for parry 0.15.0 for additional details.

• Renamed BroadPhase to BroadPhaseMultiSap. The BroadPhase is now a trait that can be implemented for providing a custom broad-phase to rapier. Equivalently, the DefaultBroadPhase type alias can be used in place of BroadPhaseMultiSap.
• The kinematic character controller autostepping is now disabled by default.
• Add KinematicCharacterController::normal_nudge_factor used to help getting the character unstuck due to rounding errors.
• Rename TOI to ShapeCastHit.
• Rename many fields from toi to time_of_impact.
• The QueryPipeline::cast_shape method now takes a ShapeCastOptions instead of the max_toi and stop_at_penetration parameters. This allows a couple of extra configurations, including the ability to have the shape-cast target a specific distance instead of actual shape overlap.

The main highlight of this release is the implementation of a new non-linear constraints solver for better stability and increased convergence rates. See #579 for additional information.

In order to adjust the number of iterations of the new solver, simply adjust IntegrationParameters::num_solver_iterations. If recovering the old solver behavior is useful to you, call IntegrationParameters::switch_to_standard_pgs_solver().

It is now possible to specify some additional solver iteration for specific rigid-bodies (and everything interacting with it directly or indirectly through contacts and joints): RigidBodyBuilder::additional_solver_iterations and RigidBodyBuilder::set_additional_solver_iterations. This allows for higher-accuracy on subsets of the physics scene without affecting performance of the other parts of the simulation.

Fix

• Fix bug causing angular joint limits and motor to sometimes only take into account half of the angles specified by the user.
• Fix bug where collisions would not be re-computed after a collider was re-enabled.

Added

• Add a SpringJoint and SpringJointBuilder for simulating springs with customizable stiffness and damping coefficients.
• Add SphericalJoint::local_frame1/2, ::set_local_frame1/2, and SphericalJointBuilder::local_frame1/2 to set both the joint’s anchor and reference orientation.
• Add EffectiveCharacterMovement::is_sliding_down_slope to indicate if the character controlled by the kinematic character controller is sliding on a slope that is too steep.
• Add Wheel::side_friction_stiffness to customize the side friction applied to the vehicle controller’s wheel.
• Add Wheel::raycast_info to access more wheel information relative to the ground.
• Add DebugRenderStyle::disabled_color_multiplier to make the debug-renderer color disabled object differently.
• Fix incorrect update of angular degrees-of-freedoms on spherical multibody joints.
• Fix debug-renderer showing moved kinematic rigid-bodies only at their initial position.

Modified

• Make Wheel::friction_slip public to customize the front friction applied to the vehicle controller’s wheels.
• Add the DebugRenderBackend::filter_object predicate that can be implemented to apply custom filtering rules on the objects being rendered.
• Switch the testbed to bevy 0.12 and use its new Gizmos API for rendering lines.
• Rename NarrowPhase::contacts_with to NarrowPhase::contact_pairs_with.
• Rename NarrowPhase::intersections_with to NarrowPhase::intersection_pairs_with.

Fix

• Fix issue with convex polyhedron jitter due to missing contacts.
• Fix character controller getting stuck against vertical walls.
• Fix character controller’s snapping to ground not triggering sometimes.
• Fix character controller’s horizontal offset being mostly ignored and some instances of vertical offset being ignored.

Fix

• Fix bug resulting in dynamic rigid-bodies acting as kinematic bodies after being disabled and then re-enabled.

Added

• Add RigidBody::set_enabled, RigidBody::is_enabled, RigidBodyBuilder::enabled to enable/disable a rigid-body without having to delete it. Disabling a rigid-body attached to a multibody joint isn’t supported yet.
• Add Collider::set_enabled, Collider::is_enabled, ColliderBuilder::enabled to enable/disable a collider without having to delete it.
• Add GenericJoint::set_enabled, GenericJoint::is_enabled to enable/disable a joint without having to delete it. Disabling a multibody joint isn’t supported yet.
• Add DynamicRayCastVehicleController, a vehicle controller based on ray-casting and dynamic rigid-bodies (mostly a port of the vehicle controller from Bullet physics).
• Add RigidBody::user_force and RigidBody::user_torque to read the forces or torques added by the user to a dynamic rigid-body.
• Add RigidBody::locked_axes to get the rigid-body axes that were locked by the user.

Modified

• Add the QueryPipeline as an optional argument to PhysicsPipeline::step and CollisionPipeline::step. If this argument is specified, then the query pipeline will be incrementally (i.e. more efficiently) update at the same time as these other pipelines. In that case, calling QueryPipeline::update a PhysicsPipeline::step isn’t needed.
• RigidBody::set_body_type now takes an extra boolean argument indicating if the rigid-body should be woken-up (if it becomes dynamic).
• RigidBody::mass_properties now also returns the world-space mass-properties of the rigid-body.

Fix

• Fix bug resulting in rigid-bodies being awakened after they are created, even if they are created sleeping.

Fix

• Fixed docs build on docs.rs.

Added

• Implement Copy for CharacterCollision.
• Implement conversion (From trait) between Group and u32.
• Add ColliderBuilder::trimesh_with_flags to build a triangle mesh with specific flags controlling its initialization.

Modified

• Rename AABB to Aabb to comply with Rust’s style guide.
• Switch to parry 0.11.

Fix

• Fix internal edges of 3D triangle meshes or 3D heightfields generating invalid contacts preventing balls from moving straight.

Added

• Add a kinematic character controller implementation. See the control module. The character controller currently supports the following features:
  • Slide on uneven terrains
  • Interaction with dynamic bodies.
  • Climb stairs automatically.
  • Automatically snap the body to the floor when going downstairs.
  • Prevent sliding up slopes that are too steep
  • Prevent sliding down slopes that are not steep enough
  • Interactions with moving platforms.
  • Report information on the obstacles it hit on its path.
• Implement serde serialization/deserialization for CollisionEvents when the serde-serialize feature is enabled

Modified

• The methods Collider::set_rotation, RigidBody::set_rotation, and RigidBody::set_next_kinematic_rotation now take a rotation (UnitQuaternion or UnitComplex) instead of a vector/angle.
• The method QueryFilter::exclude_dynamic is now a static method (the self argument was removed).
• The QueryPipeline::cast_shape method has a new argument stop_at_penertation. If set to false, the linear shape-cast won’t immediately stop if the shape is penetrating another shape at its starting point and its trajectory is such that it’s on a path to exit that penetration state.
• The InteractionGroups is now a set of explicit bit flags instead of a raw u32.
• The world-space mass properties of rigid-bodies are now updated automatically whenever the user changes their position.

Fixed

• Fix unpredictable broad-phase panic when using small colliders in the simulation.
• Fix collision events being incorrectly generated for any shape that produces multiple contact manifolds (like triangle meshes).
• Fix panic in the CollisionPipeline if a collider is both added and removed before a call to CollisionPipeline::step.

Modified

• The RigidBodyBuilder::additional_mass method will now result in the additional angular inertia being automatically computed based on the shapes of the colliders attached to the rigid-body.
• Remove the deprecated methods RigidBodyBuilder::mass, ::principal_angular_inertia, ::principal_inertia.
• Remove the methods RigidBodyBuilder::additional_principal_angular_inertia. Use RigidBodyBuilder::additional_mass_properties instead.
• The Collider::density method now always returns a Real (instead of an Option<Real>).
• Rename RigidBody::restrict_rotations and RigidBody::restrict_translations to RigidBody::set_enabled_rotations and RigidBody::set_enabled_translations.
• Rename RigidBodyBuilder::restrict_rotations and RigidBodyBuilder::restrict_translations to RigidBodyBuilder::enabled_rotations and RigidBodyBuilder::enabled_translations.

Added

• Add RigidBody::recompute_mass_properties_from_colliders to force the immediate computation of a rigid-body’s mass properties (instead of waiting for them to be recomputed during the next timestep). This is useful to be able to read immediately the result of a change of a rigid-body additional mass-properties or a change of one of its collider’s mass-properties.
• Add RigidBody::set_additional_mass to set the additional mass for the collider. The additional angular inertia is automatically computed based on the attached colliders shapes.
• Add Collider::set_density, ::set_mass, set_mass_properties, to alter a collider’s mass properties. Note that ::set_mass will result in the collider’s angular inertia being automatically computed based on this mass and on its shape.
• Add ColliderBuilder::mass to set the mass of the collider instead of its density. Its angular inertia tensor will be automatically computed based on this mass and its shape.
• Add Collider::mass and Collider::volume to retrieve the mass or volume of a collider.
• Add the QueryFilter that is now used by all the scene queries instead of the CollisionGroups and Fn(ColliderHandle) -> bool closure. This QueryFilter provides easy access to most common filtering strategies (e.g. dynamic bodies only, excluding one particular collider, etc.) for scene queries.
• Add force reporting based on contact force events. The EventHandler trait has been modified to include the method EventHandler::handle_contact_force_event. Contact force events are generated whenever the sum of the magnitudes of all the forces between two colliders is greater than any of their Collider::contact_force_event_threshold values (only the colliders wit the ActiveEvents::CONTACT_FORCE_EVENT flag set are taken into account for this threshold).
• Add the ContactForceEvent struct that is generated by the ChannelEventCollector to report contact force events.

Fixed

• Fix incorrect sensor events being generated after collider removal.
• Fix bug where the CCD thickness wasn’t initialized properly.
• Fix bug where the contact compliance would result in undesired tunneling, despite CCD being enabled.

Modified

• Add a wake_up: bool argument to the ImpulseJointSet::insert and MultibodyJointSet::insert to automatically wake-up the rigid-bodies attached to the inserted joint.
• The methods ImpulseJointSet::remove/remove_joints_attached_to_rigid_body, MultibodyJointSet::remove/remove_joints_attached_to_rigid_body and MultibodyjointSet::remove_multibody_articulations no longer require the bodies and islands arguments.
• Make the instant dependency optional, behind a profiler cargo feature.
• Rename STATIC to FIXED in the ActiveCollisionTypes flags.
• Rename ImpulseJointSet::joints_with to ::attached_joints. Add the joint’s handle to the closure arguments.
• Make the default debug-render less noisy out-of-the-box by only rendering joints, rigid-bodies, and colliders by default.

Added

• Debug-renderer: add rendering of contacts, solver contacts, and collider Aabbs
• Add MultibodyJointSet::attached_joints to return all the multibody joints attached to a given rigid-body.

Fixed

• Fix the simulation when the parallel feature is enabled.
• Fix bug where damping would not be applied properly to some bodies.
• Fix panics caused by various situations (contact or joints) involving rigid-bodies with locked translations/rotations.
• Fix bug where collider modifications (like changes of collision groups, or shape) would not wake-up their attached rigid-body, or would not have any effect on pre-existing contacts.
• Fix the automatic update of a rigid-body’s mass properties after changing one of its attached colliders.
• Fix the broad-phase becoming potentially invalid after a change of collision groups.

Modified

• Switch to nalgebra 0.31.
• Switch to parry 0.9.
• Rename JointHandle to ImpulseJointHandle.
• Rename RigidBodyMassPropsFlags to LockedAxes.
• Rename RigidBody::apply_force, ::apply_torque, ::apply_force_at_point to ::add_force, ::add_torque, and ::add_force_at_point to better reflect the fact that they are not cleared at the end of the timestep.
• Rename RigidBodyType::Static to RigidBodyType::Fixed to avoid confusion with the static keyword.
• All method referring to static rigid-bodies now use fixed instead of static.
• Rename RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based to RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based.
• The ContactEvent and IntersectionEvent have been replaced by a single enum CollisionEvent in order to simplify the user’s event handling.
• The ActiveEvents::CONTACT_EVENTS and ActiveEvents::INTERSECTION_EVENTS flags have been replaced by a single flag ActiveEvents::COLLISION_EVENTS.
• Joint motors no longer have a VelocityBased model. The new choices are AccelerationBased and ForceBased which are more stable.
• Calling the .build() function from builders (RigidBodyBuilder, ColliderBuilder, etc.) is no longer necessary when adding them to sets. It is automatically called thanks to Into<_> implementations.
• The ComponentSet abstractions (and related _generic methods like PhysicsPipeline::step_generic) have been removed. Custom storage for colliders and rigid-bodies are no longer possible: use the built-in RigidBodySet and ColliderSet instead.

Semantic modifications

These are changes in the behavior of the physics engine that are not necessarily reflected by an API change. See #304 for extensive details.

• RigidBody::set_linvel and RigidBody::set_angvel no longer modify the velocity of static bodies.
• RigidBody::set_body_type will reset the velocity of a rigid-body to zero if it is static.
• Don’t automatically clear forces at the end of a timestep.
• Don’t reset the velocity of kinematic bodies to zero at the end of the timestep.
• Events CollisionEvent::Stopped are now generated after a collider is removed.

Added

• Significantly improve the API of joints by adding:
  • Builders based on the builder pattern.
  • Getters and setters for all joints.
  • Method to convert a GenericJoint to one of the more specific joint type.
• Improve stability of joint motors.
• Adds a bool argument to RigidBodySet::remove. If set to false, the colliders attached to the rigid-body won’t be automatically deleted (they will only be detached from the deleted rigid-body instead).
• Add RigidBody::reset_forces and RigidBody::reset_torques to reset all the forces and torques added to the rigid-body by the user.
• Add the debug-render cargo feature that enables the DebugRenderPipeline: a line-based backend-agnostic renderer to debug the state of the physics engine.

Fixed

• Fixed RigidBody::restrict_rotations to properly take into account the axes to lock.

Modified

• All the impulse-based joints have been replaced by a single generic 6-Dofs joint in 3D (or 3-Dofs joint in 2D) named ImpulseJoint. The RevoluteJoint, PrismaticJoint, FixedJoint, and SphericalJoint (formerly named BallJoint) structures still exist but are just convenient ways to initialize the generic ImpulseJoint.
• Our constraints solver has been modified. Before we used one velocity-based resolution followed by one position-based resolution. We are now using two velocity-based resolution: the first one includes constraints regularization whereas the second one doesn’t. This simplifies the resolution code significantly while offering stiffer results.

Added

• Added multibody joints: joints based on the reduced-coordinates modeling. These joints can’t violate their positional constraint.
• Implement Default for most of the struct that supports it.

Fixed

• Fix a bug causing large moving colliders to miss some collisions after some time.
• Fix invalid forces generated by contacts with position-based kinematic bodies.
• Fix a bug where two colliders without parent would not have their collision computed even if the appropriate flags were set.

Check out the user-guide for the JS/Typescript bindings for rapier. It has been fully rewritten and is now exhaustive! Check it out on rapier.rs

Added

• Joint limits are now implemented for all joints that can support them (prismatic, revolute, and ball joints).

Modified

• Switch to nalgebra 0.29.

Fixed

• Fix the build of Rapier when targeting emscripten.

Added

• Add Collider::set_translation_wrt_parent to change the translation of a collider with respect to its parent rigid-body.
• Add Collider::set_rotation_wrt_parent to change the translation of a collider with respect to its parent rigid-body.

Added

• Implement Clone for IslandManager.

Modified

• JointSet::insert no longer takes the rigid-body set in its arguments.
• Modify the testbed's plugin system to let plugins interact with the rendering.
• Implement PartialEq for most collider and rigid-body components.

Added

• Make the method JointSet::remove_joints_attached_to_rigid_body public so that it can can be called externally for letting component-based Rapier integration call it to cleanup joints after a rigid-body removal.

Fixed

• Fix a panic that could happen when the same collider is listed twice in the removed_colliders array.

Added

• Add rapier::prelude::nalgebra so that the vector! and point! macros work out-of-the-box after importing the prelude: use rapier::prelude::*

The user-guide has been fully rewritten and is now exhaustive! Check it out on rapier.rs

Added

• A prelude has been added in order to simplify the most common imports. For example: use rapier3d::prelude::*
• Add RigidBody::set_translation and RigidBody.translation().
• Add RigidBody::set_rotation and RigidBody.rotation().
• Add RigidBody::set_next_translation for setting the next translation of a position-based kinematic body.
• Add RigidBody::set_next_rotation for setting the next rotation of a position-based kinematic body.
• Add kinematic bodies controlled at the velocity level: use RigidBodyBuilder::new_kinematic_velocity_based or RigidBodyType::KinematicVelocityBased.
• Add the cargo feature debug-disable-legitimate-fe-exceptions that can be enabled for debugging purpose. This will disable floating point exceptions whenever they happen at places where we do expect them to happen (for example some SIMD code do generate NaNs which are filtered out by lane-wise selection).

Modified

The use of RigidBodySet, ColliderSet, RigidBody, Collider is no longer mandatory. Rigid-bodies and colliders have been split into multiple components that can be stored in a user-defined set. This is useful for integrating Rapier with other engines (for example this allows us to use Bevy's Query as our rigid-body/collider sets).

The RigidBodySet, ColliderSet, RigidBody, Collider are still the best option for whoever doesn't want to provide their own component sets.

Rigid-bodies

• Renamed BodyStatus to RigidBodyType.
• RigidBodyBuilder::translation now takes a vector instead of individual components.
• RigidBodyBuilder::linvel now takes a vector instead of individual components.
• The RigidBodyBuilder::new_kinematic has be replaced by the RigidBodyBuilder::new_kinematic_position_based and RigidBodyBuilder::new_kinematic_velocity_based constructors.
• The RigidBodyType::Kinematic variant has been replaced by two variants: RigidBodyType::KinematicVelocityBased and RigidBodyType::KinematicPositionBased.

Colliders

• Colliderbuilder::translation now takes a vector instead of individual components.
• The way PhysicsHooks are enabled changed. Now, a physics hooks is executed if any of the two colliders involved in the contact/intersection pair contains the related PhysicsHooksFlag. These flags are configured on each collider with ColliderBuilder::active_hooks. As a result, there is no PhysicsHooks::active_hooks method any more.
• All events are now disabled for all colliders by default. Enable events for specific colliders by setting its active_events bit mask to ActiveEvents::CONTACT_EVENTS and/or ActiveEvents::PROXIMITY_EVENTS.
• Add a simpler way of enabling collision-detection between colliders attached to two non-dynamic rigid-bodies: see ColliderBuilder::active_collision_types.
• The InteractionGroups is now a structures with two u32 integers: one integers for the groups membership and one for the group filter mask. (Before, both were only 16-bits wide, and were packed into a single u32).
• Before, sensor colliders had a default density set to 0.0 whereas non-sensor colliders had a default density of 1.0. This has been unified by setting the default density to 1.0 for both sensor and non-sensor colliders.
• Colliders are no longer required to be attached to a rigid-body. Therefore, ColliderSet::insert only takes the collider as argument now. In order to attach the collider to a rigid-body, (i.e., the old behavior of ColliderSet::insert), use ColliderSet::insert_with_parent.
• Fixed a bug where collision groups were ignored by CCD.

Joints

• The fields FixedJoint::local_anchor1 and FixedJoint::local_anchor2 have been renamed to FixedJoint::local_frame1 and FixedJoint::local_frame2.

Pipelines and others

• The field ContactPair::pair (which contained two collider handles) has been replaced by two fields: ContactPair::collider1 and ContactPair::collider2.
• The list of active dynamic bodies is now retrieved with IslandManager::active_dynamic_bodies instead of RigidBodySet::iter_active_dynamic.
• The list of active kinematic bodies is now retrieved with IslandManager::active_kinematic_bodies instead of RigidBodySet::iter_active_kinematic.
• NarrowPhase::contacts_with now returns an impl Iterator<Item = &ContactPair> instead of an Option<impl Iterator<Item = (ColliderHandle, ColliderHandle, &ContactPair)>>. The colliders handles can be read from the contact-pair itself.
• NarrowPhase::intersections_with now returns an iterator directly instead of an Option<impl Iterator>.
• Rename PhysicsHooksFlags to ActiveHooks.
• Add the contact pair as an argument to EventHandler::handle_contact_event

Modified

• Switch to nalgebra 0.26.

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.

Fixed

• Fixed a bug in the broad-phase that could cause non-determinism after snapshot restoration.

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.
• NarrowPhase::maintain has been renamed to NarrowPhase::handle_user_changes.
• BroadPhase::maintain has been removed. Use BroadPhase::update directly.

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).

Fixed

• Fix a determinism problem that may happen after snapshot restoration, if a rigid-body is sleeping at the time the snapshot is taken.

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.

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.