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CHANGELOG.md

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Change Log

v0.20

  • No actual API change, but updated to Rust2018 and synced with cgmath 0.17
  • Uses the latest versions of rand and approx for compatibility with other libraries

v0.19

  • Updated version of num library to 0.2
  • Minor refactoring of code based on clippy comments (no change to api)
  • Updated documentation for Variance type in SweepAndPrune.

v0.18

  • Update GJK intersection tests to use smallvec for the Simplex, since it will never grow larger than 4 entries. Small breaking change in the signature for the GJK::intersect function.
  • Reimplement GJK time of impact tests, so they actually work for all scenarios.

v0.17

  • Add primitives for Cube and Square, with an extra invariant that all sides need to be equal.
  • Rename feature eders to serde

v0.16

  • Update dependencies

v0.15.1

  • Add Default implementation for DynamicBoundingVolumeTree

v0.15

  • Add Quad primitive for 3D
  • Add Line primitive for 2D
  • Fix: Sphere discrete intersection test compared squared radii with non-squared combined radii
  • Expose tolerance settings on GJK/EPA (BREAKING CHANGE: Changed generic type parameters on GJK)
  • Fix: Expose dimensions of Rectangle/Cuboid
  • Fix: Complex time of impact would ignore later primitive pairs if one pair did not collide

v0.14

  • Upgrade to cgmath 0.16

v0.13

  • Fix: Exactly overlapping identical shapes caused degeneracy in GJK.
  • Fix: Aabb Point containment overflowed for unsigned BaseNum.
  • Added external access to faces in ConvexPolyhedron.
  • Added new collision primitives:
    • Cylinder (3D)
    • Capsule (3D)
  • Make it possible to be abstract over bounding volumes
  • Removed the SupportFunction trait, incorporating into the Primitive trait
  • Renamed the Bound trait to PlaneBound
  • Added TreeValueWrapped, a utility type for use with the DBVT

v0.12

  • New dynamic bounding volume tree for use with spatial querying etc
  • Added collision primitives:
    • Particle (2D/3D)
    • Rectangle (2D)
    • Circle (2D)
    • ConvexPolygon (2D)
    • Cuboid (3D)
    • Sphere (3D)
    • ConvexPolyhedron (3D)
  • Added wrappers for collision primitives
    • Primitive2 (2D)
    • Primitive3 (3D)
  • Added support functions and bounding volume handling for all primitives
  • Added ray intersection testing for all primitives, both without and with object-to-world transformations
  • Added collision detection algorithms for broad phase collision detection:
    • Brute force (compare all bounding volume pairs)
    • Sweep and Prune (sorts volumes along a sweep axis, and compares bounding volumes where there is an overlap in that axis)
  • Added algorithms that use GJK (Gilbert-Johnson-Keerthi) algorithm, and also EPA (Expanding Polytope Algorithm) for additional contact data:
    • Convex primitive intersection testing
    • Convex primitive distance computation
    • Convex primitive time of impact intersection testing
    • Basic support for composite primitives
  • Reorganised code tree
  • Added unit tests and benchmarks