The castShape and castCollider functions have been modified to add a targetDistance parameter. This parameter indicates the distance below which a hit is detected.
Rename RayIntersection.toi to .timeOfImpact for better clarity.
Rename RayColliderIntersection.toi to .timeOfImpact for better clarity.
Rename RayColliderToi to RayColliderHit.
Rename RayColliderHit.toi to .timeOfImpact for better clarity.
Rename ShapeTOI to ShapeCastHit.
Rename ShapeColliderTOI to ColliderShapeCastHit.
Rename ShapeCastHit.toi to .timeOfImpact.

Added

Fix the kinematic character controller getting stuck against vertical walls.
Add KinematicCharacterController.normalNudgeFactor and .setNormalNudgeFactor so set a coefficient used for avoiding having the character controller get stuck on penetrations.
Add RigidBody.softCcdPrediction, .setSoftCcdPrediction, and RigidBodyDesc.setSoftCcdPrediction for configuring soft-ccd on the rigid-body. See rapier#625 for additional details on soft-ccd.
3D version only: add TriMeshFlags::FIX_INTERNAL_EDGES and HeightFieldFlags::FIX_INTERNAL_EDGES for enabling internal edges correction (which is no longer enabled by default). The flags have been added as an optional parameter when building the shapes.
Add Collider.contactSkin, .setContactSkin, and ColliderDesc.setContactSkin for configuring the collider’s contact skin. See rapier#625 for additional details on contact skins.
Add World.lengthUnit which can be used to indicate the typical size of dynamic objects (e.g. 100 pixels instead of 1 meter). This helps the physics engine adjust internal thresholds for better results.

Fixed

Fix an issue where the reported contact force are lower than their actual value.

0.12.0

Diff

sebcrozet

published 0.12.0 • 10 months ago

Changelog

Source

0.12.0 (2024-01-28)

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 World.numSolverIterations. If recovering the old solver behavior is useful to you, call World.switchToStandardPgsSolver().

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): RigidBodyDesc.additionalSolverIterations and RigidBody::setAdditionalSolverIterations. This allows for higher-accuracy on subsets of the physics scene without affecting performance of the other parts of the simulation.

Modified

Renamed CharacterController.translationApplied, .translationRemaining and the desiredTranslation method argument to CharacterController.translationDeltaApplied, .translationDeltaRemaining and the desiredTranslationDelta to avoid confusion with the usage of the translation world in RigidBody.translation().

Added

Added DynamicRayCastVehicleController to simulate vehicles based on ray-casting.
Added JointData.generic (3D only) to create a generic 6-dof joint and manually specify the locked axes.