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CHANGELOG.md

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Change Log

All notable changes to this project will be documented in this file, following the format defined at keepachangelog.com. This project adheres to Semantic Versioning.

[v1.3.1] - 2020-04-25

  • Fix bug RigidBodyVec that incorrectly calculated the inertia tensor.

[v1.3.0] - 2019-02-14

  • Implemented Inertia for OBB.

  • This version dramatically changes the way moment of inertia tensors are calculated, and is therefore a breaking change. In order to make it easier to sum inertia tensors in compound objects, the outerproduct of the displacement of an object is now taken into account when calculating the tensor. Therefore, the moment of inertia tensor will vary depending on the center of an object. In order to get the tensor as produced before, set the position of an object to the origin.

[v1.2.5] - 2019-01-30

  • Add serialization support for Mesh, Pool, and BVH.

[v1.2.4] - 2019-01-29

  • Add serialization support for geom objects.

[v1.2.3] - 2019-01-20

  • Fix bug in Convex implementation for Capsule.
  • Fix bug in new method for Capsule.

[v1.2.2] - 2019-01-18

  • Implemented Convex for Capsule. I have no idea if this is correct at all, hopefully will add some unit tests soon.
  • Update cgmath version to 0.17.

[v1.2.0] - 2018-09-15

Discrete collision detection has been added, although at the moment it is limited to convex object collisions. That means stationary objects that only implement convex cannot collide with certain primitives, such as triangles and planes.

  • Added a type parameter to Convex in order to allow for points that include extra information.
  • Added SupportPoint for storing local support points during GJK.
  • Added rotate_around method to trait Particle.
  • Added OBB object to represent abitrarily oriented bounding boxes.
  • Expanded Simplex to take a type parameter indicating the desired point type.
  • Added new support functions to geometries.
  • Fixed a major bug in the Triangle implementation of closest_point.
  • Added convenience methods to Pool.

[v1.1.0] - 2018-04-02

A lot of work went into adding support for discrete collision detection. It is not feature complete and not very well tested but the basic algorithm works fine.

For now, only separation can be queried (and thus if two objects are penetrating). In the future contact generation will be added.

  • Added Penetrates trait to query the separation between two shapes.
  • Added Convex trait to query the support function of a shape.
  • Added MinkowskiDiff object to construct the Minkowski difference of two shapes.
  • Added Simplex struct to facilitate in GJK

[v1.0.0] - 2017-11-20

Although there have been breaking changes between minor versions in the past, not having a clear definition of how to use version numbers was a detriment. Thus, because there are breakind changes between this version and the last, version 1.0.0 marks (among other things) the first time we took semantic versioning seriously.

Added

  • Added RigidBodyVec and associated RigidBodyRef as a faster way to contain and update rigid bodies.
  • Added RigidBodyInfo as a more data-driven alternative to PhysicsObject
  • Added ConstrainedSet trait as a way to look up and set constraint variables safely.
  • Added Constraint trait as a generic constraint type.
  • Added Solver as a generic constraint solver.
  • Added ComponentConstructor as a way to dynamically create Components at runtime.

Changed

  • ContactConstraint has been modified to fit the greater constraint solver API changes.
  • Mesh now satisfies Volumetric and thus can be rotated.
  • Mesh no longer contains per-vertex normal because it was misleading for it to contain information it didn't use in collisions.
  • Volumetric trait methods now take a borrowed self instead of a self reference to allow for Mesh to propely implement rotation.
  • Renamed ContactSolverParams to ContactConstraintParams.
  • Renamed DefaultContactSolverParams to DefaultContactConstraintParams.

Removed

  • SimpleDynamicBody
  • CompoundDynamicBody
  • StaticBody
  • PhysicsObject
  • Vertex
  • ContactSolver