Merge pull request #268 from dimforge/v0.18

Release v0.18.0

Author: sebcrozet

CHANGELOG.md

@@ -1,5 +1,27 @@
 # Changelog
 
+## 0.18.0 (30 Oct. 2022)
+### Added
+- Add the accessor `RapierContext::physics_scale()` to read the physics scale
+  that was set when initializing the plugin.
+- Add `RapierConfiguration::force_update_from_transform_changes` to force the transform
+  updates even if it is equal to the transform that was previously set. Useful for
+  rollback in networked applications described in [#261](https://github.com/dimforge/bevy_rapier/pull/261).
+- Add `Collider::trimesh_with_flags` to create a triangle mesh collider with custom pre-processing
+  flags.
+
+### Fix
+- Reset the `ExternalImpulse` component after each step automatically.
+- Fix `transform_to_iso` to preserve identical rotations instead of 
+  converting to an intermediate axis-angle representation.
+- Fix **internal edges** of 3D triangle meshes or 3D heightfields generating invalid contacts
+  preventing balls from moving straight. Be sure to set the triangle mesh flag
+  `TriMeshFlags::MERGE_DUPLICATE_VERTICES` when creating the collider if your mesh have duplicated
+  vertices.
+
+### Modified
+- Rename `AABB` to `Aabb` to comply with Rust’s style guide.
+
 ## 0.17.0 (02 Oct. 2022)
 ### Added
 - Add a **kinematic character controller** implementation. This feature is accessible in two different ways:

bevy_rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier2d"
-version = "0.17.0"
+version = "0.18.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "2-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier2d"
@@ -32,7 +32,7 @@ enhanced-determinism = [ "rapier2d/enhanced-determinism" ]
 bevy = { version = "0.8.0", default-features = false, features = ["bevy_asset", "bevy_scene"] }
 nalgebra = { version = "^0.31.1", features = [ "convert-glam021" ] }
 # Don't enable the default features because we don't need the ColliderSet/RigidBodySet
-rapier2d = "0.15.0"
+rapier2d = "0.16.0"
 bitflags = "1"
 #bevy_prototype_debug_lines = { version = "0.6", optional = true }
 log = "0.4"

bevy_rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "bevy_rapier3d"
-version = "0.17.0"
+version = "0.18.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "3-dimensional physics engine in Rust, official Bevy plugin."
 documentation = "http://docs.rs/bevy_rapier3d"
@@ -32,7 +32,7 @@ enhanced-determinism = [ "rapier3d/enhanced-determinism" ]
 bevy = { version = "0.8.0", default-features = false, features = ["bevy_asset", "bevy_scene"] }
 nalgebra = { version = "^0.31.1", features = [ "convert-glam021" ] }
 # Don't enable the default features because we don't need the ColliderSet/RigidBodySet
-rapier3d = "0.15.0"
+rapier3d = "0.16.0"
 bitflags = "1"
 #bevy_prototype_debug_lines = { version = "0.6", features = ["3d"], optional = true }
 log = "0.4"

src/geometry/collider_impl.rs

@@ -11,7 +11,7 @@ use rapier::prelude::{FeatureId, Point, Ray, SharedShape, Vector, DIM};
 use super::shape_views::*;
 #[cfg(feature = "dim3")]
 use crate::geometry::ComputedColliderShape;
-use crate::geometry::{Collider, PointProjection, RayIntersection, VHACDParameters};
+use crate::geometry::{Collider, PointProjection, RayIntersection, TriMeshFlags, VHACDParameters};
 use crate::math::{Real, Rot, Vect};
 
 impl Collider {
@@ -156,16 +156,28 @@ impl Collider {
         SharedShape::trimesh(vertices, indices).into()
     }
 
+    /// Initializes a collider with a triangle mesh shape defined by its vertex and index buffers, and flags
+    /// controlling its pre-processing.
+    pub fn trimesh_with_flags(
+        vertices: Vec<Vect>,
+        indices: Vec<[u32; 3]>,
+        flags: TriMeshFlags,
+    ) -> Self {
+        let vertices = vertices.into_iter().map(|v| v.into()).collect();
+        SharedShape::trimesh_with_flags(vertices, indices, flags).into()
+    }
+
     /// Initializes a collider with a Bevy Mesh.
     ///
     /// Returns `None` if the index buffer or vertex buffer of the mesh are in an incompatible format.
     #[cfg(feature = "dim3")]
     pub fn from_bevy_mesh(mesh: &Mesh, collider_shape: &ComputedColliderShape) -> Option<Self> {
         let vertices_indices = extract_mesh_vertices_indices(mesh);
         match collider_shape {
-            ComputedColliderShape::TriMesh => {
-                vertices_indices.map(|(vtx, idx)| SharedShape::trimesh(vtx, idx).into())
-            }
+            ComputedColliderShape::TriMesh => vertices_indices.map(|(vtx, idx)| {
+                SharedShape::trimesh_with_flags(vtx, idx, TriMeshFlags::MERGE_DUPLICATE_VERTICES)
+                    .into()
+            }),
             ComputedColliderShape::ConvexDecomposition(params) => {
                 vertices_indices.map(|(vtx, idx)| {
                     SharedShape::convex_decomposition_with_params(&vtx, &idx, params).into()

src/plugin/context.rs

@@ -3,11 +3,10 @@ use std::collections::HashMap;
 use std::sync::RwLock;
 
 use rapier::prelude::{
-    BroadPhase, CCDSolver, ColliderHandle, ColliderSet, EventHandler, FeatureId,
-    ImpulseJointHandle, ImpulseJointSet, IntegrationParameters, IslandManager,
+    Aabb as RapierAabb, BroadPhase, CCDSolver, ColliderHandle, ColliderSet, EventHandler,
+    FeatureId, ImpulseJointHandle, ImpulseJointSet, IntegrationParameters, IslandManager,
     MultibodyJointHandle, MultibodyJointSet, NarrowPhase, PhysicsHooks, PhysicsPipeline,
     QueryFilter as RapierQueryFilter, QueryPipeline, Ray, Real, RigidBodyHandle, RigidBodySet,
-    AABB,
 };
 
 use crate::geometry::{Collider, PointProjection, RayIntersection, Toi};
@@ -708,19 +707,19 @@ impl RapierContext {
         })
     }
 
-    /// Finds all entities of all the colliders with an AABB intersecting the given AABB.
+    /// Finds all entities of all the colliders with an Aabb intersecting the given Aabb.
     pub fn colliders_with_aabb_intersecting_aabb(
         &self,
         aabb: Aabb,
         mut callback: impl FnMut(Entity) -> bool,
     ) {
         #[cfg(feature = "dim2")]
-        let scaled_aabb = AABB {
+        let scaled_aabb = RapierAabb {
             mins: (aabb.min().xy() / self.physics_scale).into(),
             maxs: (aabb.max().xy() / self.physics_scale).into(),
         };
         #[cfg(feature = "dim3")]
-        let scaled_aabb = AABB {
+        let scaled_aabb = RapierAabb {
             mins: (aabb.min() / self.physics_scale).into(),
             maxs: (aabb.max() / self.physics_scale).into(),
         };

src/plugin/narrow_phase.rs

@@ -222,12 +222,12 @@ impl<'a> ContactView<'a> {
 
     /// The feature ID of the first shape involved in the contact.
     pub fn fid1(&self) -> u32 {
-        self.raw.fid1
+        self.raw.fid1.0
     }
 
     /// The feature ID of the second shape involved in the contact.
     pub fn fid2(&self) -> u32 {
-        self.raw.fid2
+        self.raw.fid2.0
     }
 
     /// The impulse, along the contact normal, applied by this contact to the first collider's rigid-body.