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jcornaz
This PR contains the following updates:
0.11.3->0.12.00.11.3->0.12.0Release Notes
dimforge/rapier
### [`v0.12.0`](https://togithub.com/dimforge/rapier/blob/HEAD/CHANGELOG.md#v0120-30-Apr-2022) [Compare Source](https://togithub.com/dimforge/rapier/compare/v0.11.3...v0.12.0) ##### Fixed - Fix the simulation when the `parallel` feature is enabled. - Fix bug where damping would not be applied properly to some bodies. - Fix panics caused by various situations (contact or joints) involving rigid-bodies with locked translations/rotations. - Fix bug where collider modifications (like changes of collision groups, or shape) would not wake-up their attached rigid-body, or would not have any effect on pre-existing contacts. - Fix the automatic update of a rigid-body’s mass properties after changing one of its attached colliders. - Fix the broad-phase becoming potentially invalid after a change of collision groups. ##### Modified - Switch to `nalgebra` 0.31. - Switch to `parry` 0.9. - Rename `JointHandle` to `ImpulseJointHandle`. - Rename `RigidBodyMassPropsFlags` to `LockedAxes`. - Rename `RigidBody::apply_force`, `::apply_torque`, `::apply_force_at_point` to `::add_force`, `::add_torque`, and `::add_force_at_point` to better reflect the fact that they are not cleared at the end of the timestep. - Rename `RigidBodyType::Static` to `RigidBodyType::Fixed` to avoid confusion with the `static` keyword. - All method referring to `static` rigid-bodies now use `fixed` instead of `static`. - Rename `RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based` to `RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based`. - The `ContactEvent` and `IntersectionEvent` have been replaced by a single enum `CollisionEvent` in order to simplify the user’s event handling. - The `ActiveEvents::CONTACT_EVENTS` and `ActiveEvents::INTERSECTION_EVENTS` flags have been replaced by a single flag `ActiveEvents::COLLISION_EVENTS`. - Joint motors no longer have a `VelocityBased` model. The new choices are `AccelerationBased` and `ForceBased` which are more stable. - Calling the `.build()` function from builders (`RigidBodyBuilder`, `ColliderBuilder`, etc.) is no longer necessary whan adding them to sets. It is automatically called thanks to `Into<_>` implementations. - The `ComponentSet` abstractions (and related `_generic` methods like `PhysicsPipeline::step_generic`) have been removed. Custom storage for colliders and rigid-bodies are no longer possible: use the built-in `RigidBodySet` and `ColliderSet` instead. ##### Semantic modifications These are changes in the behavior of the physics engine that are not necessarily reflected by an API change. See [#304](https://togithub.com/dimforge/rapier/pull/304) for extensive details. - `RigidBody::set_linvel` and `RigidBody::set_angvel` no longer modify the velocity of static bodies. - `RigidBody::set_body_type` will reset the velocity of a rigid-body to zero if it is static. - Don’t automatically clear forces at the end of a timestep. - Don’t reset the velocity of kinematic bodies to zero at the end of the timestep. - Events `CollisionEvent::Stopped` are now generated after a collider is removed. ##### Added - Significantly improve the API of joints by adding: - Builders based on the builder pattern. - Getters and setters for all joints. - Method to convert a `GenericJoint` to one of the more specific joint type. - Improve stability of joint motors. - Adds a `bool` argument to `RigidBodySet::remove`. If set to `false`, the colliders attached to the rigid-body won’t be automatically deleted (they will only be detached from the deleted rigid-body instead). - Add `RigidBody::reset_forces` and `RigidBody::reset_torques` to reset all the forces and torques added to the rigid-body by the user. - Add the `debug-render` cargo feature that enables the `DebugRenderPipeline`: a line-based backend-agnostic renderer to debug the state of the physics engine.Configuration
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