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Changelog

Unreleased

Modified

Fix

  • Fix a crash when using TimestepMode::Interpolated and removing colliders during a frame which would not run a simulation step.

Added

  • Added a TriMeshFlags parameter for ComputedColliderShape, its default value is TriMeshFlags::MERGE_DUPLICATE_VERTICES, which was its hardcoded behaviour.
  • Added a way to configure which colliders should be debug rendered: global parameter for both RapierDebugColliderPlugin and DebugRenderContext, as well as individual collider setup via a ColliderDebug component.

Modified

  • RapierContext, RapierConfiguration and RenderToSimulationTime are now a Component instead of resources.
    • Rapier now supports multiple independent physics worlds, see example multi_world3 for usage details.
    • Migration guide:
      • ResMut<mut RapierContext> -> WriteDefaultRapierContext
      • Res<RapierContext> -> ReadDefaultRapierContext
      • Access to RapierConfiguration and RenderToSimulationTime should query for it on the responsible entity owning the RenderContext.
    • If you are building a library on top of bevy_rapier and would want to support multiple independent physics worlds too, you can check out the details of #545 to get more context and information.
  • colliders_with_aabb_intersecting_aabb now takes bevy::math::bounding::Aabb3d (or [..]::Aabb2d in 2D) as parameter.
    • it is now accessible with headless feature enabled.

v0.27.0 (07 July 2024)

This is an update from rapier 0.19 to Rapier 0.21 which includes several stability improvements and new features. Please have a look at the 0.20 and 0.21 changelogs of Rapier.

Modified

  • Update from rapier 0.19 to rapier 0.21.
  • Update to nalgebra 0.33.
  • Update to bevy 0.14.
  • Renamed has_any_active_contacts to has_any_active_contact for better consistency with rapier.
  • ColliderDebugColor's property is now a bevy::color::Hsla.
  • ImpulseJoint::data and MultibodyJoint::data are now a more detailed enum TypedJoint instead of a GenericJoint. You can still access its inner GenericJoint with .as_ref() or as_mut().
  • data fields from all joints (FixedJoint, …) are now public, and their getters removed.

Added

  • Derive Debug for LockedAxes.
  • Expose is_sliding_down_slope to both MoveShapeOutput and KinematicCharacterControllerOutput.
  • Added a First Person Shooter character_controller example for bevy_rapier3d.
  • Added serialization support for CollisionGroups, SolverGroups, ContactForceEventThreshold, ContactSkin.
  • Added RapierContext::context.impulse_revolute_joint_angle to compute the angle along a revolute joint’s principal axis.

Fix

  • Fix rigidbodies never going to sleep when a scale was applied to their Transform.
  • Fix losing information about hit details when converting from ShapeCastHit in parry to ShapeCastHit in bevy_rapier

v0.26.0 (05 May 2024)

This is an update to Rapier 0.19 which includes several stability improvements and character-controller fix. Please have a look at the 0.19 changelog of Rapier.

Modified

  • Renamed Toi/ToiDetails to ShapeCastHit/ShapeCastHitDetails.
  • Switch to rapier’s built-in length_unit instead of explicitly scaling shapes with physics_scale.
  • Linear shape-casting functions now take a ShapeCastOptions parameter that describes how the shape-cast should behave on special-cases (like toi == 0).
  • Internal edge correction is now opt-in with the TriMeshFlags::FIX_INTERNAL_EDGES and HeightFieldFlags::FIX_INTERNAL_EDGES flags.
  • Rename RayIntersection::toi to RayIntersection::time_of_impact.

Fix

  • Fix character controller occasionally getting stuck against vertical walls.

Added

  • Add the SoftCcd (for rigid-bodies) and ContactSkin (for colliders) components. See rapier#625 for details on the features they enable.

v0.25.0 (19 Feb. 2024)

Modified

  • Update to bevy 0.13.

v0.24.0 (27 Jan. 2024)

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) by adding the AdditionalSolverIterations component to the same entity as the rigid-body. 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.
  • 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

  • Rename RapierContext::contacts_with to RapierContext::contact_pairs_with.
  • Rename RapierContext::intersections_with to RapierContext::intersection_pairs_with.
  • Collisions between the character controller and sensors are now disabled by default.

0.23.0

Modified

  • Update to Bevy 0.12

Added

  • ColliderView::as_typed_shape and ::to_shared_shape to convert a ColliderView to a parry’s TypedShape or SharedShape. The From trait has also been implemented accordingly.
  • Implement Copy for ColliderView and all the other non-mut shape views.
  • Add RapierContext::rigid_body_colliders to retrieve all collider entities attached to this rigid-body.
  • Add RapierPhysicsPlugin::in_fixed_schedule/::in_schedude to add rapier’s systems to a fixed/custom schedule.
  • Re-export JointAxesMask, JointAxis, MotorModel.
  • Implement Deref for ReadMassProperties.
  • Expose the stop_at_penetration parameter of shape-casting, to enable or ignore overlaps at the initial position of the shape.

Fix

  • Fix RapierContext::integration_parameters::dt not being updated on non-fixed timestep modes.
  • Fix debug-renderer lagging one frame behind.
  • Fix Collider Transform rotation change not being taken into account by the physics engine.
  • Fix automatic update of ReadMassProperties.

0.22.0 (10 July 2023)

Modified

  • Update to Bevy 0.11.
  • Disabled rigid-bodies are no longer synchronized with the rapier backend.
  • Switch to bevy’s gizmo system for the debug-renderer. This removes the vendored debug lines plugin.

Added

  • Add a joint for simulating ropes: the RopeJoint.
  • Add Velocity::linear_velocity_at_point to calculate the linear velocity at the given world-space point.
  • Add the ComputedColliderShape::ConvexHull variant to automatically calculate the convex-hull of an imported mesh.
  • Implement Reflect for the debug-renderer.

Fix

  • Fix broken interpolation for rigid-bodies with the TransformInterpolation component.
  • Fix compilation when bevy_rapier is being used with headless bevy.
  • Improved performance of the writeback system by not iterating on non-rigid-body entities.
  • Fix typo by renaming CuboidViewMut::sed_half_extents to set_half_extents.
  • Properly scale parented collider’s offset based on changes on its ColliderScale.

0.21.0 (07 March 2023)

Modified

  • Update to Bevy 0.10.
  • The PhysicsHooksWithQuery trait has been renamed to by the BevyPhysicsHooks.
  • Bevy resources and queries accessed by the physics hook are now specified by the implementer of BevyPhysicsHooks which must derive Bevy’s SystemParam trait. This implies that the physics hook’s filter_contact_pair (and all its other methods) no longer take the Bevy Query as argument. Queries and resources are accessed through self.
  • Rename PhysicsStages to PhysicsSet.

0.20.0 (15 Jan. 2023)

Added

  • Add the RigidBodyDisabled and ColliderDisabled component that can be inserted to disable a rigid-body or collider without removing it from the scene.

Fix

  • Fix spawn position of colliders without rigid bodies.
  • Fix overriding enabled flag in debug render.

Modified

  • Make debug-rendering enabled by default when inserting the RapierDebugRenderPlugin plugin with its default configuration.
  • The debug-render feature has been replaced by two features: debug-render-2d and debug-render-3d. For example, using debug-render-2d with bevy_rapier3d, the debug-render will work with 2D cameras (useful, e.g., for top-down games with 3D graphics).
  • In order to facilitate the use of bevy_rapier in headless mode, the AsyncCollider and AsyncSceneCollider components were moved behind the async-collider feature (enabled by default). Disabling that feature will make bevy_rapier work even with the MinimalPlugins inserted instead of the DefaultPlugins.
  • Corrected an API inconsistency where bevy_rapier components would sometimes require an InteracitonGroup type defined in rapier. It has been replaced by the CollisionGroup type (defined in bevy_rapier).
  • Velocity::zero,linear,angular are now const-fn.

0.19.0 (18 Nov. 2022)

Modified

  • Update to Bevy 0.9

0.18.0 (30 Oct. 2022)

Added

  • Add the accessor RapierContext::physics_scale() to read the physics scale that was set when initializing the plugin.
  • Add RapierConfiguration::force_update_from_transform_changes to force the transform updates even if it is equal to the transform that was previously set. Useful for rollback in networked applications described in #261.
  • Add Collider::trimesh_with_flags to create a triangle mesh collider with custom pre-processing flags.

Fix

  • Reset the ExternalImpulse component after each step automatically.
  • Fix transform_to_iso to preserve identical rotations instead of converting to an intermediate axis-angle representation.
  • Fix internal edges of 3D triangle meshes or 3D heightfields generating invalid contacts preventing balls from moving straight. Be sure to set the triangle mesh flag TriMeshFlags::MERGE_DUPLICATE_VERTICES when creating the collider if your mesh have duplicated vertices.

Modified

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

0.17.0 (02 Oct. 2022)

Added

  • Add a kinematic character controller implementation. This feature is accessible in two different ways:
    1. The first approach is to insert the KinematicCharacterController component to an entity. If the KinematicCharacterController::custom_shape field is set, then this shape is used for the character control. If this field is None then the Collider attached to the same entity as the character controller is used. The character controller will be automatically updated when the KinematicCharacterController::movement is set. The result position is written to the Transform of the character controller’s entity.
    2. The second, lower level, approach, is to call RapierContext::move_shape to compute the possible movement of a shape, taking obstacle and sliding into account.
  • Add implementations of Add, AddAssign, Sub, SubAssign to ExternalForce and ExternalImpulse.
  • Add ExternalForce::at_point and ExternalImpulse::at_point to apply a force/impulse at a specific point of a rigid-body.

Fix

  • Fix shapes quickly switching between scaled and non-scaled versions due to rounding errors in the scaling extraction from bevy’s global affine transform.

0.16.2 (23 August 2022)

Added

  • Implement Debug for Collider and ColliderView.
  • Add the missing ActiveEvent::CONTACT_FORCE_EVENTS to enable contact force events on a collider.

0.16.1 (19 August 2022)

Fixed

  • Fix crash of the 2D debug-render on certain platforms (including Metal/MacOS).
  • Fix bug where collision events and contact force events were not cleared automatically.
  • Implement Reflect for AsyncCollider.

0.16.0 (31 July 2022)

Modified

  • Switch to Bevy 0.8.

0.15.0 (10 July 2022)

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 transform hierarchies not being properly taken into account for colliders with a parent rigid-body.
  • Fix force and impulse application when the ExternalImpulse or ExternalForce components were added at the same time as the rigid-body creation.
  • Fix sleeping threshold application when these thresholds are set at the same time as the rigid-body creation.

Added

  • Add the ColliderMassProperties::Mass variant to let the user specify a collider’s mass directly (instead of its density). As a result the collider’s angular inertia tensor will be automatically be computed based on this mass and its shape.
  • Add the ContactForceEvent event. It can be read by a bevy system with the EventReader<ContactForceEvent>. This event is useful to read contact forces. A ContactForceEvent is generated whenever the sum of the magnitudes of the forces applied by contacts between two colliders exceeds the value specified by the ContactForceEventThreshold component.
  • Add the QueryFilter struct that is now used by all the scene queries instead of the CollisionGroups and Fn(Entity) -> bool closure. This QueryFilter provides easy access to most common filtering strategies (e.g. dynamic bodies only, excluding one particular entity, etc.) for scene queries.
  • Added some missing serialization of joints.
  • Implement Default for Collider. It defaults to a Ball with radius 0.5.
  • Added a contacts_enabled flag to all the joints. If this flag is set to false for a joint, no contact will be computed between two colliders attached to rigid-bodies liked by that joint.

Modified

  • The MassProperties struct is no longer a Component. A common mistake was to assume that MassProperties could be used to initialize the mass/angular inertia tensor of a rigid-body. It is not the case. Instead, the user should use the AdditionalMassProperties component. The ReadMassProperties component has been added to read the mass properties of a rigid-body.
  • The Sensor component is now a marker component: if it exists the related collider is a sensor, otherwise it is a solid collider.

0.14.1 (01 June 2022)

Fixed

  • Add the missing init_async_scene_colliders to the list of the plugin systems.

0.14.0 (31 May 2022)

Added

  • Add the AsyncSceneCollider component to generate collision for scene meshes similar to AsyncCollider.
  • Add calls to App::register_type for the types implementing Reflect.

Modified

  • Collider::bevy_mesh, Collider::bevy_mesh_convex_decomposition and Collider::bevy_mesh_convex_decomposition_with_params was replaced with single Collider::from_bevy_mesh function which accepts ComputedColliderShape.
  • AsyncCollider is now a struct which contains a mesh handle and ComputedColliderShape.
  • The physics systems are now running after CoreStage::Update but before CoreStage::PostUpdate.
  • The collider and rigid-body positions are read from the GlobalTransform instead of Transform (the transforms modified by Rapier are written back to the Transform component). It is therefore important to insert both a Transform and GlobalTransform component (or the TransformBundle bundle).
  • It is now possible to prevent the plugin from registering its system thanks to RapierPhysicsPlugin::with_default_system_setup(false). If that’s the case, the RapierPhysicsPlugin::get_systems method can be called to retrieve the relevant SystemSet that can be added to your own stages in order to apply your own scheduling.

Fixed

  • Fixed issues where contact regularization (using compliance) would result in tunnelling despite tunnelling being enabled.
  • Don’t overwrite the user’s RapierConfiguration if one already exists before initializing the plugin.

0.13.2 (5 May 2022)

Modified

  • The TimestepMode and SimulationToRenderTime structures are now public.

Fixed

  • Fixed colors rendered by the debug-renderer.
  • Fix issue where the debug-renderer would sometimes render lines behind the user’s meshes/sprites.

0.13.1 (1 May 2022)

Added

  • Add the CollidingEntities components which tracks the set of entities colliding with a given entity.
  • Add constructors Velocity::linear, Velocity::angular, Ccd::enabled(), Ccd::disabled(), Dominance::group, Friction::coefficient, Restitution::coefficient, CollisionGroups::new, SolverGroups::new.
  • Add RapierContext::collider_parent that returns the entity containing the parent RigidBody of a collider.

Modified

  • Switched to linear ordering to order our systems.
  • Make the plugin::systems module public.

0.13.0 (30 Apr. 2022)

This is a complete rewrite of the plugin (mostly likely the last large redesign this plugin will be subject to). It switches to rapier 0.12 and bevy 0.7. The focus of this rewrite was to significantly improve ergonomics while simplifying the codebase and adding new features.

Refer to #138 for extensive details on this change. See the folders bevy_rapier2d/examples and bevy_rapier3d/examples for some examples.

0.12.0

Modified

  • Switch to rapier 0.12.0-alpha.0 and nalgebra 0.30.
  • Switch to bevy 0.6.
  • All the Rapier components have been wrapped into wrapper types (for example ColliderPosition has been wrapped into ColliderPositionComponent). These wrapper types are the ones that need to be used as bevy components. To convert a Rapier component to it’s corresponding Bevy component, simply use .into(). See the examples in bevy_rapier2d/examples and bevy_rapier3d/examples for details.

0.11.0

Modified

  • Switch to Rapier 0.11 and nalgebra 0.29.
  • Add labels to each system from bevy-rapier.

Fixed

  • Fix panics when despawning joints or colliders.
  • Fix a panic where adding a collider.
  • Don’t let the plugin overwrite the user’s PhysicsHooksWithQueryObject if it was already present before inserting the plugin.

0.10.2

Fixed

  • Fix build when targeting WASM.

0.10.1

Fixed

  • Fix joint removal when despawning its entity.

0.10.0

A new, exhaustive, user-guide for bevy_rapier has been uploaded to rapier.rs.

This version is a complete rewrite of the plugin. Rigid-bodies and colliders are now split into components that can be queried like any other components. They are created by inserting a RigidBodyBundle and/or a ColliderBundle.

In addition, the Entity type and ColliderHandle/RigidBodyHandle type can now be converted directly using entity.handle() or handle.entity().

Finally, there is now a prelude: use bevy_rapier2d::prelude::*.

0.9.0

Added

  • The ColliderDebugRender component must be added to an entity containing a collider shape in order to render it.

0.8.0

Changed

  • Use the version 0.5.0 of Rapier.

Added

  • The debug rendering of 3D trimesh now work.
  • The debug rendering won't crash any more if a not-yet-supported shape is used. It will silently ignore the shape instead.
  • The crate has now a render feature that allows building it without any rendering support (avoiding some dependencies that may not compile when targeting WASM).

0.7.0

Changed

  • Use the version 0.4.0 of Bevy.

0.6.2

Changed

  • Fix the rendering of colliders attached to an entity children of another entity containing the rigid-body it is attached to.

0.6.1

Changed

  • The adaptive change of number of timesteps executed during each render loop (introduced in the version 0.4.0 with position interpolation) is now disabled by default. It needs to be enabled explicitly by setting RapierConfiguration.time_dependent_number_of_timesteps to true.

0.6.0

Added

  • It is now possible to attach multiple colliders to a single rigid-body by using Bevy hierarchy: an entity contains the RigidBodyBuilder whereas its children contain the ColliderBuilder.

Changed

  • We now use the latest version of Rapier: 0.4.0. See the Rapier changelog for details. In particular, this includes the ability to lock the rotations of a rigid-body.

0.5.0

Changed

  • We now use the latest version of Bevy: 0.3.0

Added

  • Rigid-bodies, colliders, and joints, will automatically removed from the Rapier sets when their corresponding Bevy components are removed.

0.4.0

This release update the plugin to the latest version of Rapier, which itself includes lots of new features. Refer to the Rapier changelogs for details.

Added

  • A InteractionPairFilters resource where you can your own filters for contact pair and proximity pair filtering. Before considering the use of a custom filter, consider using collision groups instead (as it is faster, but less versatile).

Changed

0.3.1

Changed

  • Rapier configuration
    • Replaced Gravity and RapierPhysicsScale resources with a unique RapierConfiguration resource.
    • Added an physics_pipeline_active attribute to RapierConfiguration allowing to pause the physic simulation.
    • Added a query_pipeline_active attribute to RapierConfiguration allowing to pause the query pipeline update.