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CHANGELOG.md

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0.8.0 - 2021-06-07

Breaking changes

  • There is a new variant HeightField to the CollisionShape enum

Features

  • HeightField collision shape (#102, thanks @elegaanz)

0.7.0 - 2021-05-31

Breaking changes

  • The CollisionEvent now contains a pair of CollisionData instead of a pair of Entity
  • The physics step rate is not defined on the plugin type anymore. It is replaced by a PhysicsSteps resource.
  • The IntegrationParameters can no longer be defined when installing the plugin. The IntegrationParameters should should be inserted/mutated instead.
  • The Velocity and Transform are now updated during the CoreStage::PostUpdate. If a user-system need to run after the physics update, it should explicitly declares that dependency using the PhysicsSystem labels.

Features

  • More data in collision events (#103)
  • SensorShape component to mark individual collision shape as sensor (#104)
  • Runs physics step at most once per frame (#109)

0.6.0 - 2021-05-24

Breaking changes

  • The Body component is renamed to CollisionShape
  • The BodyType component is renamed to RigidBody and is now mandatory. (The rigid bodies are no longer automatically "dynamic" when the component is not found)
  • The BodyHandle component is removed. The rapier's RigidBodyHandle and ColliderHandle are now used instead.

Features

  • Allow to define (multiple) collision shapes in the child entity of a rigid body (#97)
  • Collision layers (#101)

Bug fixes

  • Frame delay after a spawn/update of the entity transform (#92)
  • The acceleration component is now registered for bevy reflection

0.5.1 - 2021-05-01

PhysicsTime resource

The PhysicsTime resource can be used to change the time-scale of the physics engine.

Thanks @yaymalaga

0.5.0 - 2021-04-18

⚠ Dependency requirements updated (breaking)

The required version of rapier2d is bumped to ^0.8.0

⚠ Support defining friction

A new public field friction has been added in PhysicMaterial. As the name suggest, it allows to define the friction that should be applied when two rigid bodies are in contact.

Thanks @yaymalaga

0.4.0 - 2021-04-17

⚠ Dependency requirements updated (breaking)

The required version of bevy is bumped to ^0.5.0 The required version of rapier2d is bumped to ^0.7.2 The required version of rapier3d is bumped to ^0.8.0

Feature flags of public dependencies

Heron no longer enables any feature flag for rapier. That way the end-user can freely choose the rapier feature flags.

0.3.0 - 2021-03-21

⚠ ConvexHull collision shape

There is a new variant in the Body enum: ConvexHull. It takes a list of points, and the body shape will be the smallest possible convex shape that includes all the given points.

Thanks @faassen

Acceleration component

A new Acceleration component make possible to apply and linear and angular accelerations. It is by extension also possible to apply a force if you know the mass: acceleration.linear = force / mass.

Thanks @ryo33

RotationConstraints component

A new RotationConstraints component make possible to prevent rotation around the given axes.

Others

  • The opacity has been increased for the default color of debug shapes.

0.2.0 - 2021-03-07

⚠ Physics systems

The physics step run at a fixed rate (60 updates per second by default). Therefore, it is not in sync with the frame update (that runs as many times per second as possible).

But a user may want to (and sometime have to) run system synchronously with the physics step.

This is why two stages are now public:

  • stage::ROOT: the root schedule stage that contains the physics step and run at a fixed rate (60 updates per second by default)
  • stage::UPDATE: a child (parallel) system stage that runs before each physics step

But most of the time, users shouldn't have to use the stage directly, because an add_physics_system extension function on AppBuilder is provided and can be used like add_system, except systems added with add_physics_system will run during the physics update.

This is a breaking change: Updating the transforms/velocities or any other physics component of rigid bodies must be done in the physics update stage. Make sure to add theses systems using the new add_physics_system extension function on AppBuilder.

⚠ New PhysicMaterial component that replaces Restitution (breaking)

There is now a PhysicMaterial component which can be used to define both the restitution (how bouncy) and density (how heavy) the material is.

In the future it will be extended to define more physics properties, like the friction.

Since the restitution is now defined in PhysicMaterial, the Restitution component has been removed.

⚠ Kinematic bodies

There is a new variant to BodyType: Kinematic. That makes possible to create "kinematic" bodies. A kinematic body is controlled programmatically (usually by updating the transform) and affect the other bodies normally, but is not affected by them.

⚠ Dependency requirements updated (breaking)

The required version of rapier is bumped to ^0.6.1

All components are registered for reflection

All components now implement Default and Reflect and are registered to bevy reflect system. That should make be possible to use heron components in serialized scene for hot-reloading.

Public constructor to BodyHandle

BodyHandle now has a public constructor. Advanced users may create rigid bodies and colliders using directly the rapier API (adding them to the RigidBodySet and ColliderSet resources), and then add a BodyHandle component to the entity so that heron's will handle velocity and update the bevy transforms.

Tanks @MGlolenstine

0.1.1 - 2021-02-16

⚠ Fix incorrect internal version requirements

A problem happened during the release of 0.1.0, and some crates (incl. the root crate heron) were requiring invalid version of the other heron crates.

0.1.0 - 2021-02-15 [YANKED]

⚠ Dependency requirement updated (breaking)

The required rapier version is now >= 0.5.0 < 0.6.0.

⚠ New collision shapes (breaking)

The variants Body::Capsule and Body::Cuboid have been added, allowing creating respectively capsule and cuboid collision shapes

New BodyType component

By default, the rigid-bodies are dynamic. A BodyType can be attached to make it:

  • Static (with BodyType::Static) so that it doesn't move.
  • Sensor (with BodyType::Sensor) so it doesn't move and doesn't affect other bodies. (Only useful for listening to collision events)

Fixes

  • Misplaced debug render at startup
  • Incorrect angular velocity in 2d

0.1.0-alpha.1 - 2021-01-30

Features flags

  • 3d (enabled by default) Enable simulation on the 3 axes x, y, and z. Incompatible with the feature 2d.
  • 2d Enable simulation only on the first 2 axes x and y. Incompatible with the feature 3d, therefore require to disable the default features.
  • debug Render collision shapes. Works only in 2d for now, support for 3d will be added later.

Important: Either 2d or 3d (but not both) must be enabled. If none or both of theses two features are enabled, the PhysicsPlugin won't be available.

PhysicsPlugin plugin

Add the PhysicsPlugin to setup collision detection and physics simulation. It also registers rapier's RigidBodySet , ColliderSet, JointSet, IntegrationParameters, BroadPhase and NarrowPhase in the resources.

Gravity resource

The resource Gravity defines the world's gravity. Gravity is disabled by default. You may override or mutate the Gravity resource to change the world's gravity.

Body component

A Body component can be added to make the entity a dynamic rigid body with the given shape.

The position of the body is defined by the bevy GlobalTransform component. Updating the GlobalTransform, will teleport the body ignoring physics rules.

Every frame the Transform will be updated to reflect the body position in the world.

Heron will automatically handle replacement and removal of the body (when the component mutated/removed or when the entity is despawned)

At the moment, only spheres are supported. More shape will be added in the future. Support for static and kinematic bodies will be added later too.

Velocity component

Add the Velocity component to an entity to define/update or read the velocity of a dynamic body.

The entity, must also have a Body component and a GlobalTransform.

Restitution component

The Restitution component can be added to define the restitution coefficient of a body.

CollisionEvent event

One can read from Events<CollisionEvent> to be notified when collisions start and stop.