[dependabot]

Bumps @dimforge/rapier3d-compat from 0.19.2 to 0.21.0.

Changelog

Sourced from @​dimforge/rapier3d-compat's changelog.

v0.21.0 (23 June 2024)

Fix

• Fix NaN values appearing in bodies translation and rotation after a simulation step with a delta time equal to 0 (#660).
• Fix crash in the SAP broad-phase when teleporting an object.

Modified

• Update to nalgebra 0.33 and parry 0.16.
• solve_character_collision_impulses collisions parameter is now an iterator over references.

v0.20.0 (9 June 2024)

This release introduces two new crates:

• rapier3d-urdf for loading URDF files into rapier3d. This will load the rigid-bodies, colliders, and joints.
• rapier3d-stl for loading an STL file as a collision shape.

Added

• Add Multibody::inverse_kinematics, Multibody::inverse_kinematics_delta, and ::inverse_kinematics_delta_with_jacobian for running inverse kinematics on a multibody to align one its links pose to the given prescribed pose.
• Add InverseKinematicsOption to customize some behaviors of the inverse-kinematics solver.
• Add Multibody::body_jacobian to get the jacobian of a specific link.
• Add Multibody::update_rigid_bodies to update rigid-bodies based on the multibody links poses.
• Add Multibody::forward_kinematics_single_link to run forward-kinematics to compute the new pose and jacobian of a single link without mutating the multibody. This can take an optional displacement on generalized coordinates that are taken into account during transform propagation.
• Implement Debug for ColliderBuilder.
• Add Collider::converted_trimesh and MeshConverter for building a collider with a shape computed from a mesh’s index and vertex buffers. That computed shape can currently be a TriMesh, a Cuboid (covering the mesh’s AABB or OBB), a convex hull, or a convex decomposition.
• Implement Default for RigidBodyBuilder. This is equivalent to RigidBodyBuilder::dynamic().
• Implement Default for ColliderBuilder. This is equivalent to ColliderBuilder::ball(0.5).
• Add RevoluteJoint::angle to compute the joint’s angle given the rotation of its attached rigid-bodies.

Modified

• Renamed JointAxesMask::X/Y/Z to ::LIN_X/LIN_Y/LIN_Z; and renamed JointAxesMask::X/Y/Z to ::LinX/LinY/LynZ to make it clear it is not to be used as angular axes (the angular axis are JointAxesMask::ANG_X/ANG_Y/AngZ and JointAxesMask::AngX/AngY/AngZ).
• The contact constraints regularization parameters have been changed from erp/damping_ratio to natural_frequency/damping_ratio. This helps define them in a timestep-length independent way. The new variables are named IntegrationParameters::contact_natural_frequency and IntegrationParameters::contact_damping_ratio.
• The IntegrationParameters::normalized_max_penetration_correction has been replaced by ::normalized_max_corrective_velocity

... (truncated)

Commits

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Maintainer changes

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