Release v0.7.0

src/dynamics/ccd/toi_entry.rs

@@ -130,7 +130,6 @@ impl TOIEntry {
     fn body_motion(body: &RigidBody) -> NonlinearRigidMotion {
         if body.is_ccd_active() {
             NonlinearRigidMotion::new(
-                0.0,
                 body.position,
                 body.mass_properties.local_com,
                 body.linvel,

src/dynamics/mod.rs

@@ -1,6 +1,9 @@
 //! Structures related to dynamics: bodies, joints, etc.
 
+pub use self::ccd::CCDSolver;
+pub use self::coefficient_combine_rule::CoefficientCombineRule;
 pub use self::integration_parameters::IntegrationParameters;
+pub(crate) use self::joint::JointGraphEdge;
 pub(crate) use self::joint::JointIndex;
 #[cfg(feature = "dim3")]
 pub use self::joint::RevoluteJoint;
@@ -14,18 +17,14 @@ pub use self::joint::{
     PrismaticJoint,
     SpringModel, // GenericJoint
 };
+pub(crate) use self::rigid_body::RigidBodyChanges;
 pub use self::rigid_body::{ActivationStatus, BodyStatus, RigidBody, RigidBodyBuilder};
 pub use self::rigid_body_set::{BodyPair, RigidBodyHandle, RigidBodySet};
-pub use parry::mass_properties::MassProperties;
-// #[cfg(not(feature = "parallel"))]
-pub use self::ccd::CCDSolver;
-pub use self::coefficient_combine_rule::CoefficientCombineRule;
-pub(crate) use self::joint::JointGraphEdge;
-pub(crate) use self::rigid_body::RigidBodyChanges;
 #[cfg(not(feature = "parallel"))]
 pub(crate) use self::solver::IslandSolver;
 #[cfg(feature = "parallel")]
 pub(crate) use self::solver::ParallelIslandSolver;
+pub use parry::mass_properties::MassProperties;
 
 mod ccd;
 mod coefficient_combine_rule;

src/geometry/collider.rs

@@ -234,6 +234,7 @@ impl Collider {
     /// cloned first so that `self` contains a unique copy of that
     /// shape that you can modify.
     pub fn shape_mut(&mut self) -> &mut dyn Shape {
+        self.changes.insert(ColliderChanges::SHAPE);
         self.shape.make_mut()
     }
 

src/pipeline/query_pipeline.rs

@@ -500,7 +500,6 @@ impl QueryPipeline {
         shape_vel: &Vector<Real>,
         shape: &dyn Shape,
         max_toi: Real,
-        target_distance: Real,
         query_groups: InteractionGroups,
         filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>,
     ) -> Option<(ColliderHandle, TOI)> {
@@ -512,7 +511,6 @@ impl QueryPipeline {
             &pipeline_shape,
             shape,
             max_toi,
-            target_distance,
         );
         self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1)
     }