CHANGELOG.md

v0.13.0 (31 Jun. 2022)

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.

v0.12.0 (30 Apr. 2022)

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 whan 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.

v0.12.0-alpha.0 (2 Jan. 2022)

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 (formely 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.

v0.11.1

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.

v0.11.0

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.

v0.10.1

Added

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

v0.10.0

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.

v0.9.2

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.

v0.9.1

Added

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

v0.9.0

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

v0.8.0

Modified

• Switch to nalgebra 0.26.

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.
• 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).

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.