Release Rapier 0.20.0

[sebcrozet]

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 JointAxisMask::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
  JointAxisMask::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• The IntegrationParameters::normalized_max_penetration_correction has been replaced
  by ::normalized_max_corrective_velocity
  to make the parameter more timestep-length independent. It is now set to a non-infinite value to eliminate aggressive
  "popping effects".
• The Multibody::forward_kinematics method will no longer automatically update the poses of the RigidBody associated
  to each joint. Instead Multibody::update_rigid_bodies has to be called explicitly.
• The Multibody::forward_kinematics method will automatically adjust the multibody’s degrees of freedom if the root
  rigid-body changed type (between dynamic and non-dynamic). It can also optionally apply the root’s rigid-body pose
  instead of the root link’s pose (useful for example if you modified the root rigid-body pose externally and wanted
  to propagate it to the multibody).
• Remove an internal special-case for contact constraints on fast contacts. The doesn’t seem necessary with the substep
  solver.
• Remove RigidBody::add_collider. This was an implementation detail previously needed by bevy_rapier. To attach
  a collider to a rigid-body, use ColliderSet::insert_with_parent or ColliderSet::set_parent.
• Rename JointAxis::X/Y/Z to ::LinX/LinY/LinZ to avoid confusing it with ::AngX/AngY/AngZ.
• Rename JointAxesMask::X/Y/Z to ::LIN_X/LIN_Y/LIN_Z to avoid confusing it with ::ANG_X/ANG_Y/ANG_Z.
• The function RigidBody::add_collider is now private. It was only public because it was needed for some internal
  bevy_rapier plumbings, but it is no longer useful. Adding a collider must always go througthe ColliderSet.
• CharacterController::solve_character_collision_impulses now takes multiple CharacterCollision as parameter:
  this change will allow further internal optimizations.
• QueryPipeline::update now doesn't need the RigidBodySet as parameter.
• Removed QueryPipelineMode.
• QueryPipeline::update_with_mode was renamed to ::update_with_generator and now takes
  impl QbvhDataGenerator<ColliderHandle> as parameter see [QueryPipeline::updaters] module for more information.