v0.12.0

0.12.0 (2026-11-02)

Changed

• Breaking: a def, a default and a create per joint type.
  m3JointDef, m3DefaultJointDef and m3CreateJoint are gone. Each
  of the twelve types has its own def, default and create:
  m3SphericalJointDef with m3DefaultSphericalJointDef and
  m3CreateSphericalJoint, and the same for the revolute, prismatic,
  weld, distance, generic, wheel, filter, parallel, motor, gear and
  pulley joints. Each def holds only the fields its type reads, so a
  cone on a wheel or a spring on a weld can no longer be written.
  Rename the fields you set as below. A create refuses another type's
  def with m3_errorInvalid and one misuse. The default wheel def
  builds: its suspension points down -y with its axle along z. The C#
  JointDef, DefaultJointDef and CreateJoint are replaced by the
  same twelve structs, defaults and creates.

  0.11.0 m3JointDef field	0.12.0
  type	gone: call the create for your type
  lowerLimit, upperLimit	spherical lowerTwist, upperTwist; revolute lowerAngle, upperAngle; prismatic and wheel lowerTranslation, upperTranslation
  wheel localAxisB	localSpinAxisB
  genericLinear, genericAngular	linearModes, angularModes
  genericLinearLower, genericLinearUpper	linearLower, linearUpper
  genericAngularLower, genericAngularUpper	angularLower, angularUpper
  genericMotorAxis	motorAxis, M3_GENERIC_NO_MOTOR for none

  (#299)

• Breaking: a dynamic body bounds its contact lever ratio. A
  colliding shape far from its body's center of mass, on a body a
  joint also holds, let the contact go: past a ratio of about 1e7,
  mass times the squared arm over the moment that arm turns, the
  contact and the joint stopped settling and the body fell through.
  M3_CONTACT_LEVER_LIMIT, 1e6, is the new bound. A shape create,
  destroy, resize or density change, a filter change that lets a
  shape collide, and a type change to dynamic are refused with
  m3_errorLimit when they would carry the ratio past it. They change
  nothing and count no misuse. Restore and replay refuse such bytes.
  m3Shape_SetFilter now returns m3Result, so check its status.
  (#302)

• Breaking: body names are UTF-8 with a byte count.
  m3Body_SetName(world, body, name, byteCount) returns m3Result.
  It refuses a name longer than M3_MAX_BODY_NAME_BYTES, 31 bytes,
  with m3_errorLimit where it cut the name, and bytes that are not
  well-formed UTF-8 or hold a zero byte with m3_errorInvalid. Each
  refusal keeps the old name and counts one misuse. A count of 0
  clears the name. m3Body_GetName(world, body, nameOut, capacity)
  copies the name into your buffer with no terminator and returns its
  byte length; call it with a NULL buffer and capacity 0 to measure.
  (#293)

• Breaking: m3World_Compare returns a status. It takes
  rowsOut, capacity and totalOut in place of out and
  outCount, writes up to capacity rows and sets *totalOut to the
  number of differing slots, which may exceed the capacity. Read
  min(total, capacity) rows. Worlds of different capacities now
  compare slot by slot instead of being refused. A refusal returns
  m3_errorInvalid and counts one misuse, where it returned -1 and
  counted none. m3EncodeReplay's buffer parameter is named
  containerOut.
  (#294)

• Breaking: the point test takes a filter, the capsule overlap a
  center. m3World_TestPoint(world, point, filter) answers with the
  lowest shape the filter sees; pass m3DefaultQueryFilter() to keep
  the old answer. m3World_OverlapCapsule takes a center and two
  points relative to it, as m3World_CastCapsuleClosest does, in
  place of two world points.
  (#297)

• Breaking: seven internal math helpers leave core_math.h.
  m3MinF, m3MaxF, m3ClampF, m3AbsF, m3MakeZeroMat3,
  m3UnwindAngle and m3IntegrateRotation are no longer declared.
  Use your own. The vector, matrix and quaternion math, m3ComputeCosSin
  and m3Atan2 stay.
  (#298)

• Formats. The snapshot keeps format 6, the journal tape format 7
  and the replay container format 4. As in every release, a snapshot,
  tape or container written by another release is refused with
  m3_errorVersion.

Fixed

• A generic joint's motor follows its switch. It drove the named
  motor axis whether the motor was on or off, so
  m3Joint_EnableMotor(world, joint, false) did not stop it. It now
  drives only while the switch is on, like every other motor; set
  enableMotor in the def to keep it driving.
  (#301)
• A plane sits in its body's frame everywhere. The contacts, the
  fast-body sweep, the mover and the shape casts read a plane as world
  space, while the ray casts, overlaps and point test placed it with
  its body. A plane on a moved or turned static body collided in a
  different place than queries found it. A plane on a body at the
  origin collides exactly as before.
  (#312)
• A fast body is swept only against shapes it can touch. The
  continuous phase moved a fast body back to the time it hit a shape
  it never gets a contact with, so it lost most of a step's travel and
  went through on the next one. It hit planes that are sensors, hidden
  by its filter or on a disabled body, static surfaces its filter
  hides, and shapes of a body it is jointed to with connected
  collision off. The sweep now asks the same pair rule as contacts.
  Scenes with such joints step to different results.
  (#310,
  #315)
• The fast-body sweep places offset shapes. It swept every shape
  as if it sat at its body's origin with no turn, so a fast body could
  pass through an offset box, voxel chunk or plane, or stop in the air
  above one. Bodies with offset shapes step to different results.
  (#319)
• Queries skip what they should. m3World_TestPoint no longer
  reports shapes of disabled bodies, and m3World_OverlapAabb and
  m3World_OverlapSphere no longer report planes the filter hides or
  planes on disabled bodies.
  (#296,
  #309)
• A box overlap refuses a rotation that is not unit length.
  m3World_OverlapBox took any finite quaternion and answered for a
  stretched or shrunk box. A rotation whose squared length is not
  between 0.98 and 1.02 is now refused as the box cast refuses it: the
  call returns 0, zeroes the array and counts one misuse.
  (#306)
• An explosion carves only chunks its filter sees.
  m3World_Explode carved every voxel chunk in reach, including
  chunks its filter hides and chunks on disabled bodies, while its
  push already skipped both.
  (#318)