From ed7e6393b8086adbed7050c12c63241415df17ff Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= Date: Thu, 10 Apr 2025 12:44:58 +0200 Subject: [PATCH] Release v0.24.0 (#820) --- CHANGELOG.md | 6 +++++- crates/rapier2d-f64/Cargo.toml | 4 ++-- crates/rapier2d/Cargo.toml | 4 ++-- crates/rapier3d-f64/Cargo.toml | 4 ++-- crates/rapier3d-meshloader/Cargo.toml | 4 ++-- crates/rapier3d-meshloader/src/lib.rs | 16 ++++++++-------- crates/rapier3d-urdf/Cargo.toml | 6 +++--- crates/rapier3d-urdf/src/lib.rs | 14 +++++++------- crates/rapier3d/Cargo.toml | 4 ++-- crates/rapier_testbed2d-f64/Cargo.toml | 4 ++-- crates/rapier_testbed2d/Cargo.toml | 4 ++-- crates/rapier_testbed3d-f64/Cargo.toml | 4 ++-- crates/rapier_testbed3d/Cargo.toml | 4 ++-- src/pipeline/event_handler.rs | 4 ++-- 14 files changed, 43 insertions(+), 39 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 4bf292c..e2184b6 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -1,9 +1,13 @@ -## Unreleased +## v0.24.0 (10 April 2025) ### Added - `IntegrationParameters` now implements `PartialEq`. +### Modified + +- Update dependencies (including `parry` 0.19). + ## v0.23.1 (05 March 2025) ### Added diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml index b0ea7eb..0ad3cfc 100644 --- a/crates/rapier2d-f64/Cargo.toml +++ b/crates/rapier2d-f64/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier2d-f64" -version = "0.23.1" +version = "0.24.0" authors = ["Sébastien Crozet "] description = "2-dimensional physics engine in Rust." documentation = "https://docs.rs/rapier2d" @@ -68,7 +68,7 @@ vec_map = { version = "0.8", optional = true } web-time = { version = "1.1", optional = true } num-traits = "0.2" nalgebra = "0.33" -parry2d-f64 = "0.18.0" +parry2d-f64 = "0.19.0" simba = "0.9" approx = "0.5" rayon = { version = "1", optional = true } diff --git a/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml index 5cd0975..3036331 100644 --- a/crates/rapier2d/Cargo.toml +++ b/crates/rapier2d/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier2d" -version = "0.23.1" +version = "0.24.0" authors = ["Sébastien Crozet "] description = "2-dimensional physics engine in Rust." documentation = "https://docs.rs/rapier2d" @@ -69,7 +69,7 @@ vec_map = { version = "0.8", optional = true } web-time = { version = "1.1", optional = true } num-traits = "0.2" nalgebra = "0.33" -parry2d = "0.18.0" +parry2d = "0.19.0" simba = "0.9" approx = "0.5" rayon = { version = "1", optional = true } diff --git a/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml index 7c0a43d..cbc0b63 100644 --- a/crates/rapier3d-f64/Cargo.toml +++ b/crates/rapier3d-f64/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier3d-f64" -version = "0.23.1" +version = "0.24.0" authors = ["Sébastien Crozet "] description = "3-dimensional physics engine in Rust." documentation = "https://docs.rs/rapier3d" @@ -71,7 +71,7 @@ vec_map = { version = "0.8", optional = true } web-time = { version = "1.1", optional = true } num-traits = "0.2" nalgebra = "0.33" -parry3d-f64 = "0.18.0" +parry3d-f64 = "0.19.0" simba = "0.9" approx = "0.5" rayon = { version = "1", optional = true } diff --git a/crates/rapier3d-meshloader/Cargo.toml b/crates/rapier3d-meshloader/Cargo.toml index e00b764..2496ffb 100644 --- a/crates/rapier3d-meshloader/Cargo.toml +++ b/crates/rapier3d-meshloader/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier3d-meshloader" -version = "0.4.0" +version = "0.5.0" authors = ["Sébastien Crozet "] description = "STL file loader for the 3D rapier physics engine." documentation = "https://docs.rs/rapier3d-meshloader" @@ -29,4 +29,4 @@ thiserror = "2" profiling = "1.0" mesh-loader = "0.1.12" -rapier3d = { version = "0.23", path = "../rapier3d" } +rapier3d = { version = "0.24", path = "../rapier3d" } diff --git a/crates/rapier3d-meshloader/src/lib.rs b/crates/rapier3d-meshloader/src/lib.rs index 32051e5..9d0d167 100644 --- a/crates/rapier3d-meshloader/src/lib.rs +++ b/crates/rapier3d-meshloader/src/lib.rs @@ -33,11 +33,11 @@ pub enum MeshLoaderError { /// # Parameters /// - `path`: the file’s path. /// - `converter`: controls how the shapes are computed from the content. In particular, it lets -/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull, -/// bounding box, etc. +/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull, +/// bounding box, etc. /// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will -/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored -/// in [`LoadedShape::raw_mesh`] remains unscaled. +/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored +/// in [`LoadedShape::raw_mesh`] remains unscaled. pub fn load_from_path( path: impl AsRef, converter: &MeshConverter, @@ -63,11 +63,11 @@ pub fn load_from_path( /// # Parameters /// - `raw_mesh`: the raw mesh. /// - `converter`: controls how the shape is computed from the STL content. In particular, it lets -/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull, -/// bounding box, etc. +/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull, +/// bounding box, etc. /// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will -/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored -/// in [`LoadedShape::raw_mesh`] remains unscaled. +/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored +/// in [`LoadedShape::raw_mesh`] remains unscaled. pub fn load_from_raw_mesh( raw_mesh: &Mesh, converter: &MeshConverter, diff --git a/crates/rapier3d-urdf/Cargo.toml b/crates/rapier3d-urdf/Cargo.toml index 24bd286..4188e83 100644 --- a/crates/rapier3d-urdf/Cargo.toml +++ b/crates/rapier3d-urdf/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier3d-urdf" -version = "0.4.0" +version = "0.5.0" authors = ["Sébastien Crozet "] description = "URDF file loader for the 3D rapier physics engine." documentation = "https://docs.rs/rapier3d-urdf" @@ -31,5 +31,5 @@ anyhow = "1" bitflags = "2" urdf-rs = "0.9" -rapier3d = { version = "0.23", path = "../rapier3d" } -rapier3d-meshloader = { version = "0.4.0", path = "../rapier3d-meshloader", default-features = false, optional = true } +rapier3d = { version = "0.24", path = "../rapier3d" } +rapier3d-meshloader = { version = "0.5.0", path = "../rapier3d-meshloader", default-features = false, optional = true } diff --git a/crates/rapier3d-urdf/src/lib.rs b/crates/rapier3d-urdf/src/lib.rs index dc4614b..f085f49 100644 --- a/crates/rapier3d-urdf/src/lib.rs +++ b/crates/rapier3d-urdf/src/lib.rs @@ -221,9 +221,9 @@ impl UrdfRobot { /// - `path`: the path of the URDF file. /// - `options`: customize the creation of rapier objects from the URDF description. /// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When - /// a mesh reference is found in the URDF file, this `mesh_dir` is appended - /// to the file path. If `mesh_dir` is `None` then the mesh directory is assumed - /// to be the same directory as the one containing the URDF file. + /// a mesh reference is found in the URDF file, this `mesh_dir` is appended + /// to the file path. If `mesh_dir` is `None` then the mesh directory is assumed + /// to be the same directory as the one containing the URDF file. pub fn from_file( path: impl AsRef, options: UrdfLoaderOptions, @@ -249,8 +249,8 @@ impl UrdfRobot { /// - `str`: the string content of an URDF file. /// - `options`: customize the creation of rapier objects from the URDF description. /// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When - /// a mesh reference is found in the URDF file, this `mesh_dir` is appended - /// to the file path. + /// a mesh reference is found in the URDF file, this `mesh_dir` is appended + /// to the file path. pub fn from_str( str: &str, options: UrdfLoaderOptions, @@ -272,8 +272,8 @@ impl UrdfRobot { /// - `robot`: the robot loaded from an URDF file. /// - `options`: customize the creation of rapier objects from the URDF description. /// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When - /// a mesh reference is found in the URDF file, this `mesh_dir` is appended - /// to the file path. + /// a mesh reference is found in the URDF file, this `mesh_dir` is appended + /// to the file path. pub fn from_robot(robot: &Robot, options: UrdfLoaderOptions, mesh_dir: &Path) -> Self { let mut name_to_link_id = HashMap::new(); let mut link_is_root = vec![true; robot.links.len()]; diff --git a/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml index 750a3cc..92f677b 100644 --- a/crates/rapier3d/Cargo.toml +++ b/crates/rapier3d/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier3d" -version = "0.23.1" +version = "0.24.0" authors = ["Sébastien Crozet "] description = "3-dimensional physics engine in Rust." documentation = "https://docs.rs/rapier3d" @@ -73,7 +73,7 @@ vec_map = { version = "0.8", optional = true } web-time = { version = "1.1", optional = true } num-traits = "0.2" nalgebra = "0.33" -parry3d = "0.18.0" +parry3d = "0.19.0" simba = "0.9" approx = "0.5" rayon = { version = "1", optional = true } diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml index 7ff1e02..e2c17ab 100644 --- a/crates/rapier_testbed2d-f64/Cargo.toml +++ b/crates/rapier_testbed2d-f64/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier_testbed2d-f64" -version = "0.23.1" +version = "0.24.0" authors = ["Sébastien Crozet "] description = "Testbed for the Rapier 2-dimensional physics engine in Rust." homepage = "http://rapier.rs" @@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [ [dependencies.rapier] package = "rapier2d-f64" path = "../rapier2d-f64" -version = "0.23.0" +version = "0.24.0" features = ["serde-serialize", "debug-render", "profiler"] diff --git a/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml index de2512f..b96ab22 100644 --- a/crates/rapier_testbed2d/Cargo.toml +++ b/crates/rapier_testbed2d/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier_testbed2d" -version = "0.23.1" +version = "0.24.0" authors = ["Sébastien Crozet "] description = "Testbed for the Rapier 2-dimensional physics engine in Rust." homepage = "http://rapier.rs" @@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [ [dependencies.rapier] package = "rapier2d" path = "../rapier2d" -version = "0.23.0" +version = "0.24.0" features = ["serde-serialize", "debug-render", "profiler"] diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml index d000848..7095020 100644 --- a/crates/rapier_testbed3d-f64/Cargo.toml +++ b/crates/rapier_testbed3d-f64/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier_testbed3d-f64" -version = "0.23.1" +version = "0.24.0" authors = ["Sébastien Crozet "] description = "Testbed for the Rapier 3-dimensional physics engine in Rust." homepage = "http://rapier.rs" @@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [ [dependencies.rapier] package = "rapier3d-f64" path = "../rapier3d-f64" -version = "0.23.0" +version = "0.24.0" features = ["serde-serialize", "debug-render", "profiler"] diff --git a/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml index 5533bea..1bb3409 100644 --- a/crates/rapier_testbed3d/Cargo.toml +++ b/crates/rapier_testbed3d/Cargo.toml @@ -1,6 +1,6 @@ [package] name = "rapier_testbed3d" -version = "0.23.1" +version = "0.24.0" authors = ["Sébastien Crozet "] description = "Testbed for the Rapier 3-dimensional physics engine in Rust." homepage = "http://rapier.rs" @@ -97,5 +97,5 @@ bevy = { version = "0.15", default-features = false, features = [ [dependencies.rapier] package = "rapier3d" path = "../rapier3d" -version = "0.23.0" +version = "0.24.0" features = ["serde-serialize", "debug-render", "profiler"] diff --git a/src/pipeline/event_handler.rs b/src/pipeline/event_handler.rs index ab98434..75761e8 100644 --- a/src/pipeline/event_handler.rs +++ b/src/pipeline/event_handler.rs @@ -38,8 +38,8 @@ pub trait EventHandler: Send + Sync { /// * `bodies` - The set of rigid-bodies. /// * `colliders` - The set of colliders. /// * `contact_pair` - The current state of contacts between the two colliders. This is set to `None` - /// if at least one of the collider is a sensor (in which case no contact information - /// is ever computed). + /// if at least one of the collider is a sensor (in which case no contact information + /// is ever computed). fn handle_collision_event( &self, bodies: &RigidBodySet,