dyn4j/RELEASE-NOTES.md at master · dyn4j/dyn4j

v5.0.1 - December 31st, 2022

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This update fixes a few issues discovered while enhancing the samples project. This update does change the behavior of the SolvedContact.isSolved method and removes the code that resets the enabled and tangentVelocity properties on the ContactConstraint.

Bug Fixes

#267 Enabled, tangent speed, and other properties of ContactConstraint are not preserved
#268 The SolvedContact.isSolved method is not consistent

v5.0.0 - December 23rd, 2022

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This major update overhauls the org.dyn4j.dynamics.joint package. This update allows the creation of new joints with an arbitrary number of bodies (whereas only one-body or two-body joints were possible before). This release sees all joints inherit from standard interfaces for things like limits, motors, and springs with the intent to make the API surface identical among all the joints.

A major change from previous versions are the settings for motors and springs. Before, you would disable these features by setting their values to zero or some default value. Now, these features are enabled/disabled using specific set{feature}Enabled methods. You can still set those settings to zero/defaults, which effectively disables them, but you lose the original value. For example, if you want your spring stiffness to be 10.0 and you want to toggle it on or off based on user interaction, you have to store the 10.0 somewhere, then set it to zero to disable the spring, then set it back to 10.0 to re-enable the spring with the correct value. These new methods allow you to set it to 10.0 and then toggle the behavior on/off separately.

Another major change from previous versions is on the WheelJoint and PrismaticJoint. These joints have had their body arguments reversed so that the given axis of allowed motion is fixed to the first body rather than the second. This shouldn't impact existing code too much, but generally you'd need to reverse the first and second body and potentially negate the axis you had before.

Apart from these breaking changes, many of the joints see new features to help reduce the number of joints between bodies to achieve a desired effect. For example, before you would need to use both a WeldJoint and a RevoluteJoint if you wanted an angular spring with limits - this is now possible with only a WeldJoint. Another example is if you wanted a linear spring with prismatic motion, you'd need to use both a PrismaticJoint and a DistanceJoint - now you can just use the PrismaticJoint.

The class documentation for all joints has been revised to be clearer and reflect all the changes described above.

As always with a major release, all deprecated APIs have been removed.

New Features:

#243 Add the ability to specify spring stiffness or frequency
#244 Update all joints to have the same spring, motor, and limit APIs
#245 Update all joints with set{feature}Enabled methods
#246 Reverse the body arguments for PrismaticJoint and WheelJoint
#247 Allow enabling linear upper and lower limits independently
#248 Add a spring offset to WheelJoint
#250 Add maximum spring force/torque to DistanceJoint, WheelJoint, and WeldJoint
#251 Allow the PinJoint to work without a spring
#252 Add a spring-damper to PrismaticJoint
#253 Add angular limits to the WeldJoint when the angular spring is used
#254 Allow the definition of joints with an arbitrary number of bodies

Bug Fixes

#256 Warm starting check missing in WeldJoint

Breaking Changes:

All deprecated APIs have been removed
#257 The getAnchor1/getAnchor2 methods have been dropped for a number of joints
#258 Make all Joint default values the same for Motors and Springs
#259 Rename of a few Joint methods for consistency

Other:

#255 Remove the use of resource files for exception messages

v4.2.2 - October 1st, 2022

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Added the ability to set zero density on fixtures. Updated/added more JUnit tests and in doing so found and fixed a few bugs.

New Features:

#229 Allow zero density BodyFixtures to allow fixtures to participate in collision detection/resolution, but not contribute to the mass or inertia of the body.

Bug Fixes

#230 Fixed a bug in the Geometry.minkowskiSum method where it would compute the wrong sum or fail entirely.
#231 Fixed a bug in the Link.translate method where it wouldn't recompute the neighbor links normals.
#235 Fixed a bug in the Mass.setType method where it would allow a user to set the type to something inconsistent with the mass properties (mass and inertia). This could be a breaking change if code is relying on the setType method to always set the type (it's now ignored when given type is invalid).

v4.2.1 - January 7th, 2022

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This update contains a few requested features (see below) and a few minor bug fixes.

New Features:

#201 Added a new collision(T, T, TimeOfImpact) method to the TimeOfImpactListener interface that can be used to perform logic (or ignore the collision) when the minimum time of impact event has been detected. Before, the TimeOfImpactListeners would notify of potential collisions to allow you to filter out detections that weren't necessary (for performance). There was also a notification that was triggered when a valid time of impact event was detected. What was missing is the minimum time of impact and the opportunity to change or halt the solving after the minimum was detected.
#211 Added a new isOutside(AABB, Transform, Fixture) method to the Bounds interface to better support extension to arbitrary bounding shapes. The given AABB is in world space whereas the Fixture is in local coordinates. This is the only method called from the World class and super classes.
#212 Added a new getIntersection(Polygon, Polygon) method to the Geometry class to return the intersection Polygon. Because the input Polygons are Convex this method operates in O(n+m) time. It will return null in the case where the Polygons do not overlap or if they overlap only by a vertex or edge.
#213 Added a new ContainmentDetector interface that the Sat class implements to detect full containment of a Convex in another Convex. NOTE: The Sat class does not support all Shapes and the same holds true for this new containment detection feature.
#218 Added a new getArea method to the Shape class to return the area.

Bug Fixes

#214 Fixed an issue where only the Sat class would clear the Penetration / Separation objects. Now all detectors require the caller to clear these objects before calling the methods that use them.
#215 Fixed an issue where the VertexClusterReduction class would fail with an exception in certain degenerate cases
#216 Fixed an issue where the Simplifier implementations would behave differently when passing in null/empty lists vs arrays.
#217 Fixed an issue where the Slice class would not return the correct inertia when using a density other than 1

v4.2.0 - May 13th, 2021

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The primary goal of this release was to fix an issue with the way smooth sliding was implemented for the Link shape. This shape is used to avoid the ghost collision problem caused by the selection of collision points during collision detection. The issue occurred when a long shape would lean over a bend in the Link chain causing the algorithm to choose the wrong normal. To fix the issue, a breaking change was necessary which requires that the Link shape be one-sided. You can read more about the problem and solution on Erin Catto's blog.

A secondary goal of this release was to merge the RopeJoint into the DistanceJoint and to improve automated unit testing for all joints. The automated tests found a few issues, mostly inconsistencies in usage, that were also fixed in this release. Some of these fixes were breaking changes. Some effort was put into normalizing the API surface between the joints also - for example, those joints with limits should have the same methods to get/set those limits (with some exceptions for those who can't control which are enabled).

One unplanned feature in this release is simple-polygon (without holes) simplification algorithms in the new org.dyn4j.geometry.simplify package. The decompose package has been around for a while now and does a great job. The problem is that the decomposition process is exact, the output must include all vertices from the input. For example, take a simple polygon with 300 vertices, the decomposition algorithms may convert that into 100 convex shapes, but some of those shapes will be thin and long which are particularly bad for collision detection/resolution. This isn't a problem with the decomposition algorithms, but rather a problem with the input. The problem shapes emitted in the decomposition process are typically caused by features of little visual significance. The goal was to evaluate methods to simplify the polygon before decomposition. Using this new package, a 300 vertex polygon can be reduced to 40 vertices (a reduction of 86%) which is further decomposed into 20 convex shapes - all with minimal loss in fidelity!

Finally, this release also sees the total code coverage go up to 93% with 2100+ automated tests. Coverage isn't the only metric for code quality, but a lot of time was spent on making the tests meaningful. For example, simulation based tests were introduced to test different configurations of joints over time.

New Features:

#200 Added simple polygon simplification algorithms that can be used to optimize geometry before being sent to the decomposition algorithms.
#200 Added new methods to the Decomposer and HullGenerator interfaces that accept List<Vector2> for ease of use.
#150 Moved the restitution velocity from a global setting to a setting on the BodyFixture to allow better control of restitution.
#151 The AngleJoint now supports negative ratios to allow for opposite angular velocities.
#151 The WheelJoint now supports the absence of a spring-damper by setting the frequency to zero.
#151 The RopeJoint has been merged into the DistanceJoint allowing toggling between the two behaviors.

Bug Fixes:

#105 Fixed issue with Link shape where collision normals would be adjusted incorrectly in some scenarios.
#151 Fixed a few minor issues in the AngleJoint, PrismaticJoint, and RevoluteJoint classes in the context of warm starting and changing limits and motor speed.

Breaking Changes:

#105 All Link shape chains are now one-sided. The direction of the normal is now dependent on the winding. Counter-clockwise winding will produce normals pointing to the right of the Links and clockwise winding will produce normals pointing to the left of the Links.
#151 The AngleJoint now throws an exception when a ratio of zero is given.
#151 The behavior of the PulleyJoint when using the ratio option has changed to be more consistent when changing the total length or ratio.

Other:

#151 Minor performance improvement in the PinJoint.

v4.1.4 - February 26th, 2021

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Bug Fixes:

#186 Fixed the removal of sensor fixtures so the atRest state of colliding bodies is unchanged

v4.1.3 - February 13th, 2021

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Bug Fixes:

#181 Fixed an issue when using the PinJoint and removing a body.

v4.1.2 - February 9th, 2021

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Bug Fixes:

#179 Fixed a bug introduced in 4.0.0 that would cause a body to be added to Islands more than once

v4.1.1 - February 8th, 2021

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Bug Fixes:

#177 Fixed a bug introduced in 4.1.0 that would throw an IllegalStateException when removing a body from a world

v4.1.0 - February 4th, 2021

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This version sees massive performance improvement for large worlds, on the order of 10x, when using Continuous Collision Detection (CCD). It also includes a number of bug fixes and enhancements to the CCD detection and resolution process. These changes required a number of breaking changes to the org.dyn4j.broadphase APIs and related classes. In general, if you aren't interacting with the broadphase classes directly, then you'll see minimal changes (a few listeners have updated and the CollisionData class is slightly different).

New Features:

#122 Major performance enhancements for CCD (10x in large worlds)
#63 Enhanced the broadphase API to allow for additional use-cases (like CCD)

Bug Fixes:

Fixed some issues with the SegmentDetector.raycast method in coincident scenarios
ConservativeAdvancement now returns false if the bodies are near collision in their previous transform
ConservativeAdvancement now exits immediately if it advances to a collision to improve resolution
Gjk now returns better separating points, normal and depth in some cases
Fixed issue where Gjk would return the detect epsilon in the getRaycastEpsilon method
Fixed an issue where CCD would re-test & re-solve the same pair in some cases
Fixed an issue with Geometry.createLinks when the list/array includes a null element

Breaking Changes:

CollisionPair was changed from CollisionPair<CollisionBody, Fixture> to CollisionPair
AbstractCollisionPair was changed from AbstractCollisionPair<CollisionBody, Fixture> to AbstractCollisionPair
BasicCollisionPair was changed from BasicCollisionPair<CollisionBody, Fixture> to BasicCollisionPair
BroadphaseDetector was changed from BroadphaseDetector<CollisionBody, Fixture> to BroadphaseDetector
AbstractBroadphaseDetector was changed from AbstractBroadphaseDetector<CollisionBody, Fixture> to AbstractBroadphaseDetector
BruteForceDetector, DynamicAABBTree, and SAP broadphase detector constructors were changed to accept BroadphaseFilter, AABProducer, and AABBExpansionMethod arguments
AABB.createAABBFromPoints was renamed to AABB.createFromPoints
The org.dyn4j.world.BroadphaseFilter was renamed to org.dyn4j.world.BroadphaseCollisionDataFilter to differentiate it with the org.dyn4j.broadphase.BroadphaseFilter
ForceCollisionTimeOfImpactSolver now only translates the bodies being resolved
FallbackConditions no longer implements equals/hashcode methods

Other:

#125 All deprecated API as of 4.0.2 has been removed.
#124 Continued improvement and coverage of JUnit test cases.
#156 Javadoc includes protected methods again.
Small numerical improvement to the Transform.lerp method and variants.

v4.0.2 - October 15th, 2020

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Bug Fixes:

#149 Fixed the RevoluteJoint.getReactionTorque method to include motor impulse

v4.0.1 - September 26th, 2020

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New Features:

#136 Added back a listener method to allow setting the sensor/enabled flags on Contact Constraints during collision detection

Bug Fixes:

#130 Fixed the getReactionForce/Torque methods to return the proper values
#135 Fixed issue with Geometry.createLinks when using closed = true would not produce the correct end linkage

Other:

#137 Clean up of test import warnings

v4.0.0 - August 29th, 2020

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This version sees massive performance improvements for large worlds, on the order of 30%-40% improvement. In addition, this version sees a big change in the API to better segment code for maintainability, testability, and extensibility. Along with those improvements comes lower object allocation per iteration and higher visibility into the output of the collision detection/resolution pipelines.

IMPORTANT! This version of dyn4j keeps a number of deprecated APIs in place, but makes no attempt to allow the deprecated API to work with the new APIs. The recommendation is that if you want to take advantage of the new features and performance enhancements, you will need to remove all references to deprecated API.

ALL deprecated APIs will be removed in the next version. The deprecated APIs should be used for upgrading only.

New Features:

#99 Major performance enhancements for large worlds (30-40%) and some small enhancements for small-medium worlds
#99 Added new objects to track collision over time to reduce allocation per frame.
#99 Added new API to easily see the entire output of the collision detection/resolution pipelines
New predictive joint limits
New linear limits on the Wheel Joint
#102 Added guards on Joint setX methods to ensure that the joined bodies are not awakened unless necessary
#103 Updated the FrictionJoint default max force/torque to non-zero values to better illustrate it's use to new users
Increased test coverage by 10%+ and greatly improved test quality
Parameterized World and Joint classes for better support for extension of the Body class

Bug Fixes:

#106 PulleyJoint no longer allows negative length
#100 Fixed unrealistic falling of bodies under gravity when bound together by a MotorJoint
Fix for overflow in the Rotation/Transform classes where it would generate values outside the valid range [1.0, -1.0] of cos(t)/sin(t) which produced NaNs
Fix for the ContactListener.end method not being called in some cases

Deprecated:

A lot of the components in the dynamics packages have been deprecated and replaced with components in the world packages. The vast majority of deprecated APIs have replacement APIs

Breaking Changes:

#71 Removed all references to UUID in the project as promised in the previous version's deprecation
Adding a Joint to a world now requires the bodies to be added first
The BroadphaseDetector.getAABB methods will now always return an expanded AABB if that feature is supported
The Body.getChangeInOrientation method now returns the minimum angular change when the angular velocity is zero
The BodyFixture class now enforces the friction/restitution coefficients to be non-negative
The ContactConstraint class now enforces the friction/restitution coefficients to be non-negative
The TimeStep (formerly Step) class now enforces the delta time to be greater than zero
Some listener methods have been removed, renamed, or moved.

Other:

#98 Replaced release-notes.txt with RELEASE-NOTES.md for better formatting and maintenance.
#101 Added unit documentation for damping values on the Body class

v3.4.0 - January 10th, 2020

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New Features:

Arithmetic optimizations @mtsamis
Small performance enhancement in the Island class @mtsamis
Memory footprint improvements @mtsamis
AABB unpack and performance enhancements @mtsamis
New LazyAABBTree broadphase detector @mtsamis
New BruteForceBroadphase detector @mtsamis
Geometry optimizations @mtsamis
Dynamics optimizations @mtsamis
New Rotation class for more efficient rotations @mtsamis
New divide, quotient, and inverseRotate methods for Vector2 @mtsamis
New RobustGeometry class for dealing with error in floating point computations (specifically for geometry at the moment) @mtsamis

Bug Fixes:

#45 Bug fix for HalfEllipse.getRadius(Vector2) when the half width < half height and the given point is below the evolute.
Bug fix for the initial transform not updating if CCD is turned off
#53 Bug fix for strange code in position solver
#60 Bug fix for wrong raycast results when using vertical segment/link shapes
#61 Bug fix for Polygon.contains when the given point is coincident with an edge of the polygon
#88 Bug fixes for the SweepLine algorithm where it would produce incorrect results
#64 Fix for a small bug in the BroadphaseKey equals method
#69 Fix for Wound.getVertexIterator and Wound.getNormalIterator methods to ensure all array elements are returned
#75 Fix for NPE in SweepLine w/ detection of crossing edges and degenerate simple polygons throwing IllegalArgumentException
#76 #80 #83 Fixes for the DivideAndConquer, GiftWrap, and GrahamScan convex hull generation algorithms for colinear and coincident points and for precision loss (by mtsamis)

Deprecated:

#47 getId methods in all classes are going away in the next version. If you need an id, please use the setUserData method.
#79 Transform.IDENTITY - please use new Transform() instead of this static final property.

Breaking Changes:

#75 double getRotation() methods were replaced with Rotation getRotation() methods. Use the getRotationAngle() method instead.
The Polygon class now checks for degenerate (zero area) polygons and throws an IllegalArgumentException when detected

Other:

Updated broadphase tests (by mtsamis)
Many more (and improved) unit tests for the geometry package (by mtsamis)
#94 Updated the Ray class constructors to normalize the input direction to help avoid common usage issues.