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 IntegrationParameters::num_solver_iterations.
If recovering the old solver behavior is useful to you, call IntegrationParameters::switch_to_standard_pgs_solver().
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): RigidBodyBuilder::additional_solver_iterations and
RigidBodyBuilder::set_additional_solver_iterations. This allows for higher-accuracy on subsets of the physics scene
without affecting performance of the other parts of the simulation.
Fix
Fix bug causing angular joint limits and motor to sometimes only take into account half of the angles specified by the user.
Fix bug where collisions would not be re-computed after a collider was re-enabled.
Fix incorrect update of angular degrees-of-freedoms on spherical multibody joints.
Fix debug-renderer showing moved kinematic rigid-bodies only at their initial position.
Added
Add a SpringJoint and SpringJointBuilder for simulating springs with customizable stiffness and damping coefficients.
Add SphericalJoint::local_frame1/2, ::set_local_frame1/2, and SphericalJointBuilder::local_frame1/2 to set both
the joint’s anchor and reference orientation.
Add EffectiveCharacterMovement::is_sliding_down_slope to indicate if the character controlled by the kinematic
character controller is sliding on a slope that is too steep.
Add Wheel::side_friction_stiffness to customize the side friction applied to the vehicle controller’s wheel.
Add Wheel::raycast_info to access more wheel information relative to the ground.
Add DebugRenderStyle::disabled_color_multiplier to make the debug-renderer color disabled object differently.
Modified
Make Wheel::friction_slip public to customize the front friction applied to the vehicle controller’s wheels.
Add the DebugRenderBackend::filter_object predicate that can be implemented to apply custom filtering rules
on the objects being rendered.
Switch the testbed to bevy 0.12 and use its new Gizmos API for rendering lines.
Rename NarrowPhase::contacts_with to NarrowPhase::contact_pairs_with.
Rename NarrowPhase::intersections_with to NarrowPhase::intersection_pairs_with.
v0.18.0 (24 Jan. 2024)
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
IntegrationParameters::num_solver_iterations. If recovering the old solver behavior is useful to you, callIntegrationParameters::switch_to_standard_pgs_solver().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):
RigidBodyBuilder::additional_solver_iterationsandRigidBodyBuilder::set_additional_solver_iterations. This allows for higher-accuracy on subsets of the physics scene without affecting performance of the other parts of the simulation.Fix
Added
SpringJointandSpringJointBuilderfor simulating springs with customizable stiffness and damping coefficients.SphericalJoint::local_frame1/2,::set_local_frame1/2, andSphericalJointBuilder::local_frame1/2to set both the joint’s anchor and reference orientation.EffectiveCharacterMovement::is_sliding_down_slopeto indicate if the character controlled by the kinematic character controller is sliding on a slope that is too steep.Wheel::side_friction_stiffnessto customize the side friction applied to the vehicle controller’s wheel.Wheel::raycast_infoto access more wheel information relative to the ground.DebugRenderStyle::disabled_color_multiplierto make the debug-renderer color disabled object differently.Modified
Wheel::friction_slippublic to customize the front friction applied to the vehicle controller’s wheels.DebugRenderBackend::filter_objectpredicate that can be implemented to apply custom filtering rules on the objects being rendered.bevy 0.12and use its new Gizmos API for rendering lines.NarrowPhase::contacts_withtoNarrowPhase::contact_pairs_with.NarrowPhase::intersections_withtoNarrowPhase::intersection_pairs_with.