20 lines
1.7 KiB
Plaintext
20 lines
1.7 KiB
Plaintext
## v0.2.0 - WIP
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The most significant change on this version is the addition of the `QueryPipeline` responsible for performing
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scene-wide queries. So far only ray-casting has been implemented.
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- Add `ColliderSet::remove(...)` to remove a collider from the `ColliderSet`.
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- Replace `PhysicsPipeline::remove_rigid_body` by `RigidBodySet::remove`.
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- The `JointSet.iter()` now returns an iterator yielding `(JointHandle, &Joint)` instead of just `&Joint`.
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- Add `ColliderDesc::translation(...)` to set the translation of a collider relative to the rigid-body it is attached to.
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- Add `ColliderDesc::rotation(...)` to set the rotation of a collider relative to the rigid-body it is attached to.
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- Add `ColliderDesc::position(...)` to set the position of a collider relative to the rigid-body it is attached to.
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- Add `Collider::position_wrt_parent()` to get the position of a collider relative to the rigid-body it is attached to.
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- Modify `RigidBody::set_position(...)` so it also resets the next kinematic position to the same value.
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- Deprecate `Collider::delta()` in favor of the new `Collider::position_wrt_parent()`.
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- Fix multiple issues occurring when having colliders resulting in a non-zero center-of-mass.
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- Fix a crash happening when removing a rigid-body with a collider, stepping the simulation, adding another rigid-body
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with a collider, and stepping the simulation again.
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- Fix NaN when detection contacts between two polygonal faces where one has a normal perfectly perpendicular to the
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separating vector.
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- Fix bug collision detection between trimeshes and other shapes. The bug appeared depending on whether the trimesh
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collider was added before the other shape's collider or after. |