Merge pull request dimforge#436 from dimforge/release-v0.17

Release v0.17.0

CHANGELOG.md

@@ -1,5 +1,5 @@
 
-## Unreleased
+## v0.17.0 (15 Jan. 2022)
 ### Added
 - Add `RigidBody::set_enabled`, `RigidBody::is_enabled`, `RigidBodyBuilder::enabled` to enable/disable a rigid-body
   without having to delete it. Disabling a rigid-body attached to a multibody joint isn’t supported yet.
@@ -11,13 +11,15 @@
   a port of the vehicle controller from Bullet physics).
 - Add `RigidBody::user_force` and `RigidBody::user_torque` to read the forces or torques added by the user to a
   dynamic rigid-body.
+- Add `RigidBody::locked_axes` to get the rigid-body axes that were locked by the user.
 
 ### Modified
 - Add the `QueryPipeline` as an optional argument to `PhysicsPipeline::step` and `CollisionPipeline::step`. If this
   argument is specified, then the query pipeline will be incrementally (i.e. more efficiently) update at the same time as
   these other pipelines. In that case, calling `QueryPipeline::update` a `PhysicsPipeline::step` isn’t needed.
 - `RigidBody::set_body_type` now takes an extra boolean argument indicating if the rigid-body should be woken-up
   (if it becomes dynamic).
+- `RigidBody::mass_properties` now also returns the world-space mass-properties of the rigid-body.
 
 ### Fix
 - Fix bug resulting in rigid-bodies being awakened after they are created, even if they are created sleeping.

crates/rapier2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d-f64"
-version = "0.16.1"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier2d"
@@ -51,9 +51,9 @@ required-features = [ "dim2", "f64" ]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ], optional = true }
 num-traits = "0.2"
-nalgebra = "0.31"
-parry2d-f64 = "0.12"
-simba = "0.7"
+nalgebra = "0.32"
+parry2d-f64 = "0.13"
+simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"

crates/rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier2d"
-version = "0.16.1"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "2-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier2d"
@@ -51,9 +51,9 @@ required-features = [ "dim2", "f32" ]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ], optional = true }
 num-traits = "0.2"
-nalgebra = "0.31"
-parry2d = "0.12"
-simba = "0.7"
+nalgebra = "0.32"
+parry2d = "0.13"
+simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"

crates/rapier3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d-f64"
-version = "0.16.1"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier3d"
@@ -51,9 +51,9 @@ required-features = [ "dim3", "f64" ]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ], optional = true }
 num-traits = "0.2"
-nalgebra = "0.31"
-parry3d-f64 = "0.12"
-simba = "0.7"
+nalgebra = "0.32"
+parry3d-f64 = "0.13"
+simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"

crates/rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier3d"
-version = "0.16.1"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "3-dimensional physics engine in Rust."
 documentation = "http://docs.rs/rapier3d"
@@ -51,9 +51,9 @@ required-features = [ "dim3", "f32" ]
 vec_map = { version = "0.8", optional = true }
 instant = { version = "0.1", features = [ "now" ], optional = true }
 num-traits = "0.2"
-nalgebra = "0.31"
-parry3d = "0.12"
-simba = "0.7"
+nalgebra = "0.32"
+parry3d = "0.13"
+simba = "0.8"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 crossbeam = "0.8"

crates/rapier_testbed2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed2d-f64"
-version = "0.16.0"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -28,7 +28,7 @@ other-backends = [ "wrapped2d" ]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.31", features = [ "rand" ] }
+nalgebra   = { version = "0.32", features = [ "rand" ] }
 rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
@@ -40,21 +40,21 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.16"
-bevy_ecs = "0.8"
+bevy_egui = "0.18"
+bevy_ecs = "0.9"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.16.0"
+version = "0.17.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]

crates/rapier_testbed2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed2d"
-version = "0.16.0"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -28,7 +28,7 @@ other-backends = [ "wrapped2d" ]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.31", features = [ "rand" ] }
+nalgebra   = { version = "0.32", features = [ "rand" ] }
 rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
@@ -40,21 +40,21 @@ bincode = "1"
 Inflector  = "0.11"
 md5 = "0.7"
 
-bevy_egui = "0.16"
-bevy_ecs = "0.8"
+bevy_egui = "0.18"
+bevy_ecs = "0.9"
 #bevy_prototype_debug_lines = "0.7"
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.16.0"
+version = "0.17.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed3d-f64"
-version = "0.16.0"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -27,7 +27,7 @@ parallel = [ "rapier/parallel", "num_cpus" ]
 features = ["parallel"]
 
 [dependencies]
-nalgebra   = { version = "0.31", features = [ "rand" ] }
+nalgebra   = { version = "0.32", features = [ "rand" ] }
 rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
@@ -39,21 +39,21 @@ md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.16"
-bevy_ecs = "0.8"
+bevy_egui = "0.18"
+bevy_ecs = "0.9"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.16.0"
+version = "0.17.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]

crates/rapier_testbed3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name    = "rapier_testbed3d"
-version = "0.16.0"
+version = "0.17.0"
 authors = [ "Sébastien Crozet <[email protected]>" ]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.org"
@@ -28,36 +28,36 @@ other-backends = [ "physx", "physx-sys", "glam" ]
 features = ["parallel", "other-backends"]
 
 [dependencies]
-nalgebra   = { version = "0.31", features = [ "rand" ] }
+nalgebra   = { version = "0.32", features = [ "rand" ] }
 rand       = "0.8"
 rand_pcg   = "0.3"
 instant    = { version = "0.1", features = [ "web-sys", "now" ]}
 bitflags   = "1"
-glam       = { version = "0.12", optional = true }
+glam       = { version = "0.20", optional = true } # For Physx
 num_cpus   = { version = "1", optional = true }
-physx      = { version = "0.12", features = [ "glam" ], optional = true }
-physx-sys = { version = "0.4", optional = true }
+physx      = { version = "0.16", features = [ "glam" ], optional = true }
+physx-sys = { version = "0.8", optional = true }
 crossbeam = "0.8"
 bincode = "1"
 md5 = "0.7"
 Inflector  = "0.11"
 serde = { version = "1", features = [ "derive" ] }
 
-bevy_egui = "0.16"
-bevy_ecs = "0.8"
+bevy_egui = "0.18"
+bevy_ecs = "0.9"
 #bevy_prototype_debug_lines = { version = "0.7", features = [ "3d" ] }
 
 # Dependencies for native only.
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render", "x11"]}
+bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render", "x11"]}
 
 # Dependencies for WASM only.
 [target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.8", default-features = false, features = ["bevy_winit", "render"]}
+bevy = {version = "0.9", default-features = false, features = ["bevy_winit", "render"]}
 #bevy_webgl2 = "0.5"
 
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.16.0"
+version = "0.17.0"
 features = [ "serde-serialize", "debug-render", "profiler" ]

src/dynamics/joint/multibody_joint/multibody.rs

@@ -11,9 +11,7 @@ use crate::math::{
 };
 use crate::prelude::MultibodyJoint;
 use crate::utils::{IndexMut2, WAngularInertia, WCross, WCrossMatrix};
-use na::{
-    self, DMatrix, DVector, DVectorSlice, DVectorSliceMut, Dynamic, OMatrix, SMatrix, SVector, LU,
-};
+use na::{self, DMatrix, DVector, DVectorView, DVectorViewMut, Dyn, OMatrix, SMatrix, SVector, LU};
 
 #[repr(C)]
 #[derive(Copy, Clone, Debug, Default)]
@@ -54,7 +52,7 @@ fn concat_rb_mass_matrix(
     result[(1, 1)] = mass.y;
     result[(2, 2)] = mass.z;
     result
-        .fixed_slice_mut::<ANG_DIM, ANG_DIM>(DIM, DIM)
+        .fixed_view_mut::<ANG_DIM, ANG_DIM>(DIM, DIM)
         .copy_from(&inertia);
     result
 }
@@ -72,10 +70,10 @@ pub struct Multibody {
     body_jacobians: Vec<Jacobian<Real>>,
     // TODO: use sparse matrices?
     augmented_mass: DMatrix<Real>,
-    inv_augmented_mass: LU<Real, Dynamic, Dynamic>,
+    inv_augmented_mass: LU<Real, Dyn, Dyn>,
 
     acc_augmented_mass: DMatrix<Real>,
-    acc_inv_augmented_mass: LU<Real, Dynamic, Dynamic>,
+    acc_inv_augmented_mass: LU<Real, Dyn, Dyn>,
 
     ndofs: usize,
     pub(crate) root_is_dynamic: bool,
@@ -85,8 +83,8 @@ pub struct Multibody {
      * Workspaces.
      */
     workspace: MultibodyWorkspace,
-    coriolis_v: Vec<OMatrix<Real, Dim, Dynamic>>,
-    coriolis_w: Vec<OMatrix<Real, AngDim, Dynamic>>,
+    coriolis_v: Vec<OMatrix<Real, Dim, Dyn>>,
+    coriolis_w: Vec<OMatrix<Real, AngDim, Dyn>>,
     i_coriolis_dt: Jacobian<Real>,
 }
 impl Default for Multibody {
@@ -234,7 +232,7 @@ impl Multibody {
     }
 
     /// The inverse augmented mass matrix of this multibody.
-    pub fn inv_augmented_mass(&self) -> &LU<Real, Dynamic, Dynamic> {
+    pub fn inv_augmented_mass(&self) -> &LU<Real, Dyn, Dyn> {
         &self.inv_augmented_mass
     }
 
@@ -547,11 +545,11 @@ impl Multibody {
         if self.coriolis_v.len() != self.links.len() {
             self.coriolis_v.resize(
                 self.links.len(),
-                OMatrix::<Real, Dim, Dynamic>::zeros(self.ndofs),
+                OMatrix::<Real, Dim, Dyn>::zeros(self.ndofs),
             );
             self.coriolis_w.resize(
                 self.links.len(),
-                OMatrix::<Real, AngDim, Dynamic>::zeros(self.ndofs),
+                OMatrix::<Real, AngDim, Dyn>::zeros(self.ndofs),
             );
             self.i_coriolis_dt = Jacobian::zeros(self.ndofs);
         }
@@ -730,29 +728,29 @@ impl Multibody {
 
     /// The generalized velocity at the multibody_joint of the given link.
     #[inline]
-    pub(crate) fn joint_velocity(&self, link: &MultibodyLink) -> DVectorSlice<Real> {
+    pub(crate) fn joint_velocity(&self, link: &MultibodyLink) -> DVectorView<Real> {
         let ndofs = link.joint().ndofs();
-        DVectorSlice::from_slice(
+        DVectorView::from_slice(
             &self.velocities.as_slice()[link.assembly_id..link.assembly_id + ndofs],
             ndofs,
         )
     }
 
     /// The generalized accelerations of this multibodies.
     #[inline]
-    pub fn generalized_acceleration(&self) -> DVectorSlice<Real> {
+    pub fn generalized_acceleration(&self) -> DVectorView<Real> {
         self.accelerations.rows(0, self.ndofs)
     }
 
     /// The generalized velocities of this multibodies.
     #[inline]
-    pub fn generalized_velocity(&self) -> DVectorSlice<Real> {
+    pub fn generalized_velocity(&self) -> DVectorView<Real> {
         self.velocities.rows(0, self.ndofs)
     }
 
     /// The mutable generalized velocities of this multibodies.
     #[inline]
-    pub fn generalized_velocity_mut(&mut self) -> DVectorSliceMut<Real> {
+    pub fn generalized_velocity_mut(&mut self) -> DVectorViewMut<Real> {
         self.velocities.rows_mut(0, self.ndofs)
     }