Release v0.12.0

[sebcrozet]

v0.12.0 (30 Apr. 2022)

Fixed

• Fix the simulation when the parallel feature is enabled.
• Fix bug where damping would not be applied properly to some bodies.
• Fix panics caused by various situations (contact or joints) involving rigid-bodies with locked translations/rotations.
• Fix bug where collider modifications (like changes of collision groups, or shape) would not wake-up their attached
  rigid-body, or would not have any effect on pre-existing contacts.
• Fix the automatic update of a rigid-body’s mass properties after changing one of its attached colliders.
• Fix the broad-phase becoming potentially invalid after a change of collision groups.

Modified

• Switch to nalgebra 0.31.
• Switch to parry 0.9.
• Rename JointHandle to ImpulseJointHandle.
• Rename RigidBodyMassPropsFlags to LockedAxes.
• Rename RigidBody::apply_force, ::apply_torque, ::apply_force_at_point to ::add_force,
  ::add_torque, and ::add_force_at_point to better reflect the fact that they are not cleared at the end
  of the timestep.
• Rename RigidBodyType::Static to RigidBodyType::Fixed to avoid confusion with the static keyword.
• All method referring to static rigid-bodies now use fixed instead of static.
• Rename RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based to
  RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based.
• The ContactEvent and IntersectionEvent have been replaced by a single enum CollisionEvent in order
  to simplify the user’s event handling.
• The ActiveEvents::CONTACT_EVENTS and ActiveEvents::INTERSECTION_EVENTS flags have been replaced by a single
  flag ActiveEvents::COLLISION_EVENTS.
• Joint motors no longer have a VelocityBased model. The new choices are AccelerationBased and ForceBased
  which are more stable.
• Calling the .build() function from builders (RigidBodyBuilder, ColliderBuilder, etc.) is no longer necessary
  whan adding them to sets. It is automatically called thanks to Into<_> implementations.
• The ComponentSet abstractions (and related _generic methods like PhysicsPipeline::step_generic) have been
  removed. Custom storage for colliders and rigid-bodies are no longer possible: use the built-in RigidBodySet and
  ColliderSet instead.

Semantic modifications

These are changes in the behavior of the physics engine that are not necessarily
reflected by an API change. See #304 for extensive details.

• RigidBody::set_linvel and RigidBody::set_angvel no longer modify the velocity of static bodies.
• RigidBody::set_body_type will reset the velocity of a rigid-body to zero if it is static.
• Don’t automatically clear forces at the end of a timestep.
• Don’t reset the velocity of kinematic bodies to zero at the end of the timestep.
• Events CollisionEvent::Stopped are now generated after a collider is removed.

Added

• Significantly improve the API of joints by adding:
  • Builders based on the builder pattern.
  • Getters and setters for all joints.
  • Method to convert a GenericJoint to one of the more specific joint type.
• Improve stability of joint motors.
• Adds a bool argument to RigidBodySet::remove. If set to false, the colliders attached to the rigid-body
  won’t be automatically deleted (they will only be detached from the deleted rigid-body instead).
• Add RigidBody::reset_forces and RigidBody::reset_torques to reset all the forces and torques added to the
  rigid-body by the user.
• Add the debug-render cargo feature that enables the DebugRenderPipeline: a line-based backend-agnostic
  renderer to debug the state of the physics engine.