@dimforge/rapier3d-compat - npm Package Versions

0.9.0 (2022-10-07)

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).

Modified

• The RigidBodyDesc.setAdditionalMass method will now result in the additional angular inertia being automatically computed based on the shapes of the colliders attached to the rigid-body.
• Removed the method RigidBodyDesc.setAdditionalPrincipalAngularInertia. Use RigidBodyDesc.setAdditionalMassProperties instead.
• The methods of RigidBodyDesc and ColliderDesc will now always copy the object provided by the user instead of storing the object itself.
• The following method will now copy the user’s objects instead of storing it: ColliderDesc.setRotation, ColliderDesc.setMassProperties, RigidBodyDesc.setRotation, RigidBodyDesc.setAdditionalMassProperties, RigidBodyDesc.setAngvel.
• Rename RigidBody.restrictRotations and RigidBody.restrictTranslations to RigidBody.setEnabledRotations and RigidBody.setEnabledTranslations.
• Rename RigidBodyDesc.restrictRotations and RigidBodyDesc.restrictTranslations to RigidBodyDesc.enabledRotations and RigidBodyDesc.enabledTranslations.

Added

• Add ImpulseJoint.setContactsEnabled, and MultibodyJoint.setContactsEnabled to set whether contacts are enabled between colliders attached to rigid-bodies linked by this joint.
• Add UnitImpulseJoint.setLimits to set the limits of a unit joint.
• Add RigidBody.recomputeMassPropertiesFromColliders 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::setAdditionalMass to set the additional mass for the rigid-body. The additional angular inertia is automatically computed based on the attached colliders shapes. If this automatic angular inertia computation isn’t desired, use RigidBody::setAdditionalMassProperties instead.
• Add Collider.setDensity, .setMass, .setMassProperties, to alter a collider’s mass properties. Note that .setMass will result in the collider’s angular inertia being automatically computed based on this mass and on its shape.
• Add ColliderDesc.setMass 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 more filtering options for scene-queries. All the scene query methods now take additional optional arguments to indicate if one particular collider, rigid-body, or type of colliders/rigid-bodies have to be ignored by the query.
• Add force reporting based on contact force events. The EventHandler trait has been modified to include the method EventQueue.drainContactForceEvents. 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.contactForceEventThreshold values (only the colliders with the ActiveEvents.CONTACT_FORCE_EVENT flag set are taken into account for this threshold).