v0.1.2

A full diff of what has been fixed can be seen here: v0.1.1...v0.1.2

v0.1.1

A full diff of what has been fixed can be seen here: v0.1.0...v0.1.1

Avian v0.1.0

Avian Physics 0.1 has been released! 🪶

Avian is an ECS-driven physics engine for the Bevy game engine. It is the next evolution of Bevy XPBD, with a completely rewritten contact solver, improved performance, a reworked structure, and numerous other improvements and additions over its predecessor.

See #346 for background on the rebrand.

Highlights

Avian 0.1 has a ton of improvements, additions, and fixes over Bevy XPBD 0.4. Some highlights:

• A solver rewrite: Avian uses an impulse-based TGS Soft solver instead of XPBD for contacts.
• A reworked narrow phase: Collision detection is much more performant and reliable.
• Continuous Collision Detection (CCD): Speculative collision and sweep-based CCD are implemented to prevent tunneling.
• Optional collision margins: Extra thickness can be added for thin colliders such as trimeshes to improve stability and performance.
• Improved performance: Overhead for large scenes is significantly smaller, and collision-heavy scenes can have over a 4-6x performance improvement in comparison to Bevy XPBD.
• Improved runtime collider constructors: It is easier to define colliders and collider hierarchies statically to enable more powerful scene workflows.
• Structural improvements and polish: The module structure has been heavily reworked, and tons of inconsistencies and bugs have been resolved.
• Bevy 0.14 support: Avian supports the latest version of Bevy, and internally, it already takes advantage of new features such as observers and component lifecycle hooks.

Check out the announcement blog post for a more in-depth overview of what has changed and why. A more complete changelog can also be found after the migration guide below.

Migration Guide

Note: This guide is for migration from Bevy XPBD 0.4 to Avian 0.1. The entries for migration to Bevy XPBD 0.5 (an easier migration path) still apply and are also listed here.

New Contact Solver #385

The contact solver has been rewritten. In practice, this has the following effects:

• Collisions should be much more stable.
• Resolving overlap is no longer nearly as explosive.
• Less substeps are generally needed for stability.
• Tunneling is much more rare.
• Performance is better.

However:

• Contacts may even be too soft by default for some applications. This can be tuned with the SolverConfig resource.
• Static friction is currently not considered separately from dynamic friction. This may be fixed in the future.
• Restitution might not be quite as perfect in some instances (this is a tradeoff for speculative collision to avoid tunneling).
• 2D applications may need to configure the PhysicsLengthUnit to get the best stability and behavior.

The PhysicsLengthUnit can be thought of a pixels-per-meter scaling factor for the engine's internal length-based tolerances and thresholds, such as the maximum speed at which overlap is resolved, or the speed threshold for allowing bodies to sleep. It does not scale common user-facing inputs or outputs like colliders or velocities.

To configure the PhysicsLengthUnit, you can insert it as a resource, or simply set it while adding PhysicsPlugins:

fn main() {
    App::new()
        .add_plugins((
            DefaultPlugins,
            // A 2D game with 20 pixels per meter
            PhysicsPlugins::default().with_length_unit(20.0),
        ))
        .run();
}

Collider Constructor Argument Order #394

To match Bevy's Cylinder, Capsule, and Cone, the order of arguments has changed for some Collider constructors.

• Use Collider::cylinder(radius, height) instead of Collider::cylinder(height, radius).
• Use Collider::capsule(radius, height) instead of Collider::capsule(height, radius).
• Use Collider::capsule_endpoints(radius, a, b) instead of Collider::capsule_endpoints(a, b, radius).
• Use Collider::cone(radius, height) instead of Collider::cone(height, radius).

This is a very heavily breaking change, but I believe it is important that we align ourselves with Bevy here, and it's better to do it sooner rather than later.

AsyncCollider and AsyncSceneCollider #378

AsyncCollider, AsyncSceneCollider, and ComputedCollider have been replaced by more powerful ColliderConstructor and ColliderConstructorHierarchy types. They work similarly, but also support primitive shapes and arbitrary hierarchies, not just colliders computed for meshes and scenes.

Additionally, some naming changes have been made to improve consistency, such as renaming TriMesh to Trimesh to be consistent with Collider::trimesh.

• Remove feature async-collider. If you need to use computed shapes, use the feature collider-from-mesh. If you depend on ColliderConstructorHierarchy waiting for a scene to load, use the feature bevy_scene
• Remove AsyncCollider and use ColliderConstructor directly
• Rename AsyncSceneCollider to ColliderConstructorHierarchy
  • Rename AsyncSceneCollider::default_shape to ColliderConstructorHierarchy::default_constructor
  • Rename AsyncSceneCollider::meshes_by_name to ColliderConstructorHierarchy::config
  • Rename AsyncSceneCollider::with_shape_for_name to ColliderConstructorHierarchy::with_constructor_for_name
  • Rename AsyncSceneCollider::without_shape_for_name to ColliderConstructorHierarchy::without_constructor_for_name
• Rename AsyncSceneColliderData to ColliderConstructorHierarchyConfig
  • Rename AsyncSceneColliderData::shape to ColliderConstructorHierarchyConfig::constructor
• Rename ComputedCollider to ColliderConstructor.
  • Rename ComputedCollider::TriMesh to ColliderConstructor::TrimeshFromMesh
  • Rename ComputedCollider::TriMeshWithFlags to ColliderConstructor::TrimeshFromMeshWithConfig
  • Rename ComputedCollider::ConvexHull to ColliderConstructor::ConvexHullFromMesh
  • Rename ComputedCollider::ConvexDecomposition to ColliderConstructor::ConvexDecompositionFromMeshWithConfig
• Rename VHACDParameters to VhacdParameters
• Rename Collider::halfspace to Collider::half_space

Reworked Module Structure #370

• The internal module structure has changed significantly, and types have moved around. Most imports from the prelude should work like before, but explicit import paths may be broken.
• The PhysicsSetupPlugin has been split into PhysicsSchedulePlugin and PhysicsTypeRegistrationPlugin.

Sensor Mass Properties #381

Colliders with the Sensor component no longer contribute to the mass properties of rigid bodies. You can add mass for them by adding another collider that is not a sensor, or by manually adding mass properties with the MassPropertiesBundle or its components.

Additionally, the mass properties of Sensor colliders are no longer updated automatically, unless the Sensor component is removed.

Joints and Custom Constraints #390 and #385

• SphericalJoint no longer exists in 2D. Use RevoluteJoint instead.
• AngleLimit properties alpha and beta are now named min and max.
• apply_positional_correction has been renamed to apply_positional_lagrange_update. There is also an apply_positional_impulse method.
• apply_angular_correction has been renamed to apply_angular_lagrange_update. There is also an apply_angular_impulse method.
• compute_lagrange_update no longer takes a slice over gradients. For that, use compute_lagrange_update_with_gradients.
• Joint::align_orientation has been moved to AngularConstraint.
• XPBD traits and systems are now located in the dynamics::solver::xpbd module.
• User constraints should run solve_constraints in SubstepSolverSet::SolveUserConstraints instead of SubstepSet::SolveUserConstraints.

Scheduling Changes #385 and #380

Several scheduling internals have been changed. For example:

• The narrow phase and PostProcessCollisions schedule are now run in PhysicsStepSet::NarrowPhase instead of SubstepSet::NarrowPhase.
• Integration is now run in IntegrationSet::Velocity and IntegrationSet::Position instead of SubstepSet::Integrate.
• SubstepSet has been removed.
  • The solver runs in PhysicsStepSet::Solver.
  • The solver's system sets are in SolverSet.
  • Substepping is performed in SolverSet::Substep.
  • The substepping loop's system sets are in SubstepSolverSet.

Systems running in PostProcessCollisions may need to be modified to account for it being moved outside of the substepping loop.

Some PrepareSet system sets have also changed order.

Before:

1. PreInit
2. PropagateTransforms
3. InitRigidBodies
4. InitMassProperties
5. InitColliders
6. InitTransforms
7. Finalize

After:

1. PreInit
2. InitRigidBodies
3. InitColliders
4. PropagateTransforms
5. InitMassProperties
6. InitTransforms
7. Finalize

ColliderHierarchyPlugin #377

Hierarchy and transform logic for colliders has been extracted from the ColliderBackendPlugin into a new `ColliderHierarchy...

Bevy XPBD v0.5.0

Bevy XPBD 0.5 is the final version of Bevy XPBD, and will be deprecated in favor of Avian, which is coming very, very soon. This release is primarily a Bevy 0.14 upgrade with very few breaking changes to ease migration. Avian 0.1 will have the majority of the changes.

The main changes and improvements in Bevy XPBD 0.5 are:

• Bevy 0.14 support.
• Transform propagation has significantly less overhead, as it is only performed for physics entities.
• Sensor colliders no longer contribute to mass properties.
• 2D heightfields take a Vec2 instead of a scalar value for scale.
• Some bug fixes, like rotation normalization in constraints to prevent explosive behavior.

Migration Guide

Sensor Mass Properties (#381)

Colliders with the Sensor component no longer contribute to the mass properties of rigid bodies. You can add mass for them by adding another collider that is not a sensor, or by manually adding mass properties with the MassPropertiesBundle or its components.

Additionally, the mass properties of Sensor colliders are no longer updated automatically, unless the Sensor component is removed.

PrepareSet System Set Order (#380)

Some PrepareSet system sets have changed order.

Before:

1. PreInit
2. PropagateTransforms
3. InitRigidBodies
4. InitMassProperties
5. InitColliders
6. InitTransforms
7. Finalize

After:

1. PreInit
2. InitRigidBodies
3. InitColliders
4. PropagateTransforms
5. InitMassProperties
6. InitTransforms
7. Finalize

ColliderHierarchyPlugin (#377)

Hierarchy and transform logic for colliders has been extracted from the ColliderBackendPlugin into a new ColliderHierarchyPlugin, which by default is included in the PhysicsPlugins plugin group.

If you are adding plugins manually, make sure you have both if you want that functionality.

What's Changed

• Fix time of impact description in ShapeHits by @Jondolf in #340
• Fix 2D heightfield scale and docs by @Jondolf in #343
• Fix 3D ShapeCaster global_rotation by @ramon-oliveira in #344
• Normalize rotations after solving constraints in solver by @Jondolf in #345
• Add feature to examples_common to enable PhysicsDebugPlugin by @jpedrick in #339
• Use compile_error! macro instead of panicking in PhysicsLayer derive macro by @doonv in #347
• Fix some doc tests by @yrns in #354
• various fixes in the prepare/init_transforms system by @exoexo-dev in #360
• Implement RegularPolygon colliders with a custom shape by @Jondolf in #367
• Update bevy-0.14 branch to crates.io release of nalgebra by @gmorenz in #372
• Speed up ColliderTransform propagation and extract collider hierarchy logic into ColliderHierarchyPlugin by @Jondolf in #377
• Refactor and speed up transform propagation and hierarchies further by @Jondolf in #380
• Make sensors not contribute to mass properties by @Jondolf in #381
• Fix GlobalTransform updates for entities with non-physics children by @Jondolf in #392

New Contributors

• @ramon-oliveira made their first contribution in #344
• @jpedrick made their first contribution in #339
• @doonv made their first contribution in #347
• @yrns made their first contribution in #354
• @exoexo-dev made their first contribution in #360
• @gmorenz made their first contribution in #372

Full Changelog: v0.4.0...v0.5.0

Bevy XPBD v0.4.0

Bevy XPBD 0.4 features several new features, bug fixes, and quality of life improvements. Here are some highlights:

• Generic colliders: Bevy XPBD no longer relies on just Collider for collision detection. You can implement custom collision backends!
• Parry and Nalgebra are optional: The Parry and Nalgebra dependencies are now behind feature flags (enabled by default). If you don't need collision detection or have a custom collision backend, you can disable them!
• Access contact impulses: It is often useful to know how strong collisions are. This information is now available in Collision events and the Collisions resource.
• Debug render contacts: Contact normals and impulses can now be debug rendered.
• Layer rework: Collision layers have been reworked to be more versatile and explicit with less footguns.
• Bevy 0.13 support: Bevy XPBD has been updated to the latest version of Bevy.
• Colliders from primitives: Colliders can be created from the new geometric primitives introduced in Bevy 0.13.
• PhysicsGizmos gizmo config group: Debug rendering has its own gizmo configuration instead of using the global configuration.

Check out the announcement blog post for a more in-depth overview of what's changed and why. A more complete changelog can also be found after the migration guide below.

Migration Guide

Default Features (#327)

The default Collider now requires either the parry-f32 or parry-f64 feature depending on the precision you are using for Bevy XPBD. However, if you don't need colliders or have a custom collision backend, you can leave the feature disabled.

Layer Rework (#313)

Collision layers have been reworked, see #313.

• Groups are now called memberships and masks are called filters. This also matches Rapier's naming.
• Memberships and filters use a type called LayerMask, which is a bitmask for layers and a newtype for u32.
• All methods like add_group, remove_mask, and so on have been removed. Instead, modify the properties directly.

let layers1 = CollisionLayers::new(0b00010, 0b0111);
let layers2 = CollisionLayers::new(GameLayer::Player, [GameLayer::Enemy, GameLayer::Ground]);
let layers3 = CollisionLayers::new(LayerMask(0b0001), LayerMask::ALL);

Modifying layers is now done by modifying the memberships or filters directly:

layers.memberships.remove(GameLayer::Environment);
layers.filters.add([GameLayer::Environment, GameLayer::Tree]);

// Bitwise ops also work since we're accessing the bitmasks/layermasks directly.
layers.memberships |= GameLayer::Player; // You could also use a bitmask like 0b0010.

Debug rendering

The PhysicsDebugConfig resource and PhysicsDebugRenderer system parameter have been removed in favor of the new PhysicsGizmos gizmo configuration group.

Before:

fn main() {
    App::new()
        .add_plugins((
            DefaultPlugins,
            PhysicsPlugins::default(),
            PhysicsDebugPlugin::default(),
        ))
        // Configure physics debug rendering
        .insert_resource(PhysicsDebugConfig {
            aabb_color: Some(Color::WHITE),
            ..default()
        })
        .run();
}

After:

fn main() {
    App::new()
        .add_plugins((
            DefaultPlugins,
            PhysicsPlugins::default(),
            PhysicsDebugPlugin::default(),
        ))
        // Configure physics debug rendering
        .insert_gizmo_group(
            PhysicsGizmos {
                aabb_color: Some(Color::WHITE),
                ..default()
            },
            GizmoConfig::default(),
        )
        .run();
}

This also allows you to configure e.g. line width for just physics gizmos by configuring their GizmoConfig.

Renamed Collider constructors (#326)

• Replace Collider::ball with Collider::circle in 2D and Collider::sphere in 3D
• Replace Collider::cuboid with Collider::rectangle in 2D

Ray and shape casting (#329)

For spatial queries, replace Vec2/Vec3 directions with Direction2d/Direction3d.

// Before
let caster = RayCaster::new(Vec3::ZERO, Vec3::X);

// After
let caster = RayCaster::new(Vec3::ZERO, Direction3d::X);

This applies to RayCaster, ShapeCaster, SpatialQuery methods like cast_ray, and many other methods that use directions.

What's Changed

• docs: Fix incorrect docs for mass component auto-initialization by @johanhelsing in #234
• Don't overwrite schedules when adding plugin by @johanhelsing in #236
• Take child collider rotation into account for contact normals by @Jondolf in #238
• Fix mesh visibility not being reset when physics debug is disabled by @Jondolf in #242
• Filter collisions between children of the same rigidbody in broad phase by @mbrea-c in #241
• Added variant TriMeshWithFlags to ComputedCollider, fix #248 by @Adamkob12 in #251
• Fix rotations when center of mass is offset by @mbrea-c in #250
• Use any_orthogonal_vector to get orthogonal vector by @ollef in #255
• Fix tests and doc examples, make cargo test compile by @Jondolf in #267
• fix: make clear_forces_and_impulses public by @ActuallyHappening in #257
• Scale debug rendering of center of mass dot by axis lengths by @Jondolf in #268
• docs: Added Character Controller recommendation for Bevy Tnua what supports Bevy XPBD by @dror-g in #270
• Fix Rotation change detection triggering every frame by @Jondolf in #272
• Don't overwrite Time<Physics> when PhysicsPlugins are added by @johanhelsing in #276
• Implement MapEntities for AabbIntervals by @johanhelsing in #275
• Implement MapEntities for collider components by @johanhelsing in #277
• Apply scale in Collider::set_shape by @Jondolf in #278
• Fix dead custom constraints link in docs by @PerryPeak in #280
• Ignore static-static collisions in broad phase by @Jondolf in #283
• Fix rotation change detection in integrator by @Jondolf in #284
• Fix static body handling in update_aabb_intervals by @Jondolf in #285
• Fix DistanceJoint distance limits by @Jondolf in #286
• Preserve collisions between inactive entities, add sensor example by @TeamDman in #266
• docs: use the read function for iterating over events by @tremorris1999 in #290
• docs: corrects other outdated calls to .iter by @tremorris1999 in #291
• Fix Time inconsistency after substepping loop by @Jondolf in #294
• Make PreparePlugin configurable by @Rigidity in #292
• Adding Collider::round_cuboid by @kav in #300
• Add section about camera following jitter to FAQ by @Jondolf in #305
• Add intersection and point queries to Collider by @Jondolf in #307
• Debug render contact normals by @Jondolf in #308
• Implement cast_ray_predicate to allow filtering the colliders with a function by @Affinator in #297
• Fix colliders without RigidBody not working by @Jondolf in #323
• fix raycast does not follow entity transform without rigidbody by @zwazel in #310
• Store impulses in contacts and refactor contact data by @Jondolf in #324
• Add ColliderBackendPlugin and support generic colliders by @Jondolf in #311
• Rework layers by @Jondolf in #313
• Make Collider optional, allowing usage without Parry or Nalgebra by @Jondolf in #327
• Fix doc examples by @Jondolf in #330
• Update to Bevy 0.13 by @Jondolf in #315

New Contributors

• @mattdm made their first contribution in #227
• @mbrea-c made their first contribution in #241
• @Adamkob12 made their first contribution in #251
• @ollef made their first contribution in #255
• @ActuallyHappening made their first contribution in #257
• @dror-g made their firs...

Bevy XPBD v0.3.0

0.3 is a huge release with tons of new features, bug fixes, and quality of life improvements, especially for collision detection. Here are some highlights:

• Modular narrow phase: Narrow phase collision detection has been refactored into modular plugins instead of being tightly coupled with the solver
• Improved contact stability: Collisions are significantly more stable, and dynamic friction has been fixed to handle different masses correctly
• Collider scale: Colliders can be scaled using Transform
• Child colliders: Colliders can be freely nested using entity hierarchies
• Async colliders: Colliders can be automatically generated from meshes and glTF scenes
• Accessing, modifying and filtering collision: The new Collisions resource can be used for accessing and modifying contacts in custom systems
• Transform for positions: Transform can be used instead of the internal Position and Rotation components
• Debug rendering: Physics objects and interactions can be rendered for debugging purposes
• Dominance: Dynamic bodies can be configured to have infinite mass relative to bodies with a lesser dominance
• Bevy 0.12 support: Bevy XPBD has been updated to Bevy 0.12
• Time unification: Timing and scheduling resources have been replaced by the unified Time<Physics> and Time<Substeps> resources

Read the more complete changelog after the migration guide for more details.

Migration guide

Here is a (non-exhaustive) migration guide for migrating from 0.2 to 0.3.

Collision iteration

Before:

fn my_system(mut collision_event_reader: EventReader<Collision>) {
    for Collision(contact) in collision_event_reader.iter() {
        println!("Penetration depth: {}", contact.penetration);
    }
}

After:

fn my_system(mut collision_event_reader: EventReader<Collision>) {
    for Collision(contacts) in collision_event_reader.read() {
        for manifold in contacts.manifolds.iter() {
            for contact in manifold.contacts.iter() {
                println!("Penetration depth: {}", contact.penetration);
            }
        }
    }
}

This is more verbose, but it provides multiple contact points instead just one. In the future, this will hopefully be made more ergonomic with helper methods.

A new and more powerful Collisions resource was also added. It can be used to achieve a similar result.

Collider scale (#189)

Before:

let mesh = meshes.add(Mesh::from(shape::Cube { size: 1.0 }));
commands.spawn((
    PbrBundle {
        mesh,
        transform: Transform::from_scale(Vec3::new(10.0, 1.0, 10.0)),
        ..default()
    },
    // Collider isn't scaled by transform
    Collider::cuboid(10.0, 1.0, 10.0),
    RigidBody::Static,
));

After:

let mesh = meshes.add(Mesh::from(shape::Cube { size: 1.0 }));
commands.spawn((
    PbrBundle {
        mesh,
        transform: Transform::from_scale(Vec3::new(10.0, 1.0, 10.0)),
        ..default()
    },
    // Collider size takes transform scale into account
    Collider::cuboid(1.0, 1.0, 1.0),
    RigidBody::Static,
));

Collider creation from meshes

• trimesh_from_bevy_mesh → trimesh_from_mesh
• convex_decomposition_from_bevy_mesh → convex_decomposition_from_mesh

Unified time (#214)

• Replace every DeltaTime in PhysicsSchedule and every SubDeltaTime in SubstepSchedule with Time, elsewhere explicitly use Time<Physics> and Time<Substep>
• When advancing physics manually, instead of setting DeltaTime, advance the Time<Physics> clock using time.advance_by(...)
• Replace PhysicsTimestep with Time::new_with(Physics::fixed_hz(...)) and so on
• Replace PhysicsLoop::pause/resume with Time::<Physics>::pause/unpause
• Replace PhysicsLoop::step with advancing the physics clock using Time::<Physics>::advance_by
• Replace PhysicsTimescale usage with Time::<Physics>::with/set_relative_speed

What's Changed

• Debug render colliders by @Jondolf in #73
• Add more global and entity-level debug render options by @Jondolf in #74
• Add debug rendering axes and joints and improve configuration API by @Jondolf in #76
• Move SpatialQuery methods to SpatialQueryPipeline by @LeshaInc in #77
• Add enabled flag to PhysicsDebugConfig to globally disable debug rendering at runtime by @LeshaInc in #78
• Add trimesh_with_flags and trimesh_from_bevy_mesh_with_flags by @Jondolf in #79
• Add PhysicsTimescale resource for slow-motion or fast-forward simulation by @dasisdormax in #80
• Use world-space center of mass in penetration constraint by @Jondolf in #81
• Add clear methods for ray and shape hits and clear the hits on disable by @Jondolf in #82
• Expand AABBs only in the movement direction by @Jondolf in #83
• Improve simulation stability when object are far from world origin by @LeshaInc in #84
• Add back global contact positions by @Jondolf in #86
• Run transform propagation before init_rigid_bodies. Fixes #88 by @LeshaInc in #89
• Add criterion benchmarks by @LeshaInc in #91
• Setup PhysicsSchedule and SubstepSchedule to use single-threaded executor by @LeshaInc in #92
• Use contact manifolds instead of single contacts for collisions by @Jondolf in #90
• Add ExternalImpulse and ExternalAngularImpulse by @Jondolf in #95
• Filter operation reodered for a little performance boost by @TrustNoOneElse in #98
• Store local contact normals and transform them into world-space at each solve by @Jondolf in #97
• Support Transform for moving and positioning bodies by @Jondolf in #96
• Fix typo in docs by @Zentropivity in #103
• Automatically add Position and Rotation for colliders by @Jondolf in #101
• Separate narrow phase from solver into NarrowPhasePlugin by @Jondolf in #100
• feature: Add DistanceJoint and 2D and 3D examples. by @shanecelis in #105
• Debug render rigid body axes at center of mass by @Jondolf in #109
• Added text that explained how to use the example 'chain_3d' by @Aztro-dev in #107
• Add "Bounciness" and "Elasticity" aliases for Restitution by @Jondolf in #117
• Clamp coefficient of restitution between 0 and 1 and improve restitution docs by @Jondolf in #118
• Add current_position getter for RigidBodyQueryItem by @Jondolf in #120
• Remove solver iteration loop by @Jondolf in #121
• Clarify that external forces and impulses are local (edit: not true, fixed by #144) by @Jondolf in #123
• Register CoefficientCombine by @grace125 in #126
• Correct time dilation for FixedUpdate schedule. by @starwolfy in #128
• Fix center of mass and inertia computations and add tests by @Jondolf in #127
• add Rotation::from_sin_cos constructor by @RJ in #130
• Avoid allocate on spatial queries. ray_hits_callback, shape_hits_callback, intersections_callback by @bnyu in #133
• Dynamic friction fix by @felixbjorkeson in #52
• Fix 2d position_to_transform changing child Transform z-component by @ShaddowSpy in #134
• Make Rotation & PreviousRotation derive PartialEq by @RJ in #136
• Fix tests on mac m1 by @RJ in #138
• Register/Reflect Component of Sensor by @grace125 in #141
• Fix Transform initialization for children and refactor prepare.rs by @Jondolf in #140
• Clarify that forces are in world space and improve force docs by @Jondolf in #144
• Fix math cross-platform determinism by @Jondolf in #145
• Combine insert calls into bundles to reduce archetype count by @Jondolf in #151
• Avoid incremental updates to Qbvh by @NiseVoid in #152
• Fix contact stability for non-convex colliders by @Jondolf in #156
• Collision post processing by @datael in #155
• Add Trigger alias for Sensor and improve Sensor docs by @Jondolf in #160
• Make PreviousGlobalTransform public and derive traits by @Jondolf in #166
• Add contact queries by ...

Bevy XPBD v0.2.0

Biggest features and changes

• Added spatial queries: Ray casting, shape casting, point projection, intersection tests
• Updated to Bevy 0.11
• Improved scheduling and system sets
  • PhysicsPlugins accepts any schedule for running the PhysicsSchedule
  • Added PhysicsTimestep::FixedOnce
  • Simplified system sets
• Added LinearDamping and AngularDamping
• Added GravityScale
• Improved force and torque API, e.g. persistence property and apply_at_point
• Added LockedAxes
• Added basic dynamic and kinematic character controller examples
• Improved docs
  • Added short section on server usage
  • Added comparison to Rapier in FAQ
  • Improved XPBD explanation a bit
• A lot of bug fixes

What's Changed

• Add spatial queries by @Jondolf in #53
• Add collider-from-mesh feature and make bevy_render optional by @Jondolf in #55
• Add LinearDamping and AngularDamping by @Jondolf in #56
• Add GravityScale component by @Jondolf in #57
• Support applying force at point and automatically clearing external force and torque by @Jondolf in #58
• Use entity index for QBVH nodes instead of entity bits by @Jondolf in #59
• Use masks instead of collision layers for SpatialQueryFilter by @Jondolf in #61
• Rename CollisionLayers methods with_group, without_group etc. to add_group, remove_group by @Jondolf in #62
• Support multiple hits for shape casts by @Jondolf in #63
• Add LockedAxes by @Jondolf in #64
• Add PhysicsTimestep mode to run only once with a fixed delta by @NiseVoid in #60
• Implement Debug for Collider by @DanielHZhang in #65
• Update to Bevy 0.11 by @Jondolf in #66
• Improve scheduling and system sets by @Jondolf in #68
• Fixes for spatial queries by @Jondolf in #70
• Add basic dynamic and kinematic character controller examples by @Jondolf in #71
• Improved docs by @Jondolf in #72

New Contributors

• @NiseVoid made their first contribution in #60
• @DanielHZhang made their first contribution in #65

Full Changelog: v0.1.0...v0.2.0

Bevy XPBD v0.1.0

Release 0.1.0