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@DanielChappuis DanielChappuis released this 01 May 05:32
· 847 commits to master since this release
v0.7.0
8da1aa6

ReactPhysics3D version 0.7.0

Added

  • Dedicated Sphere vs Capsule collision detection algorithm.
  • Dedicated Capsule vs Capsule collision detection algorithm.
  • Allow a Rigid Body to have zero mass (for static bodies for instance).
  • Add single frame memory allocator for faster memory allocation in a frame.
  • Make possible to have a profiler per DynamicsWorld instead of a unique one.
  • Make possible to use your own allocation/deallocation methods instead of default malloc/free
  • Make possible to display the AABB of the bodies in the testbed application.
  • Add RigidBody::setInverseLocalInertiaTensor() method to directly set the inverse inertia tensor of a rigid body.
  • More unit tests have been added

Changed

  • Use single-shot contact manifold computation instead of incremental across several frames.
  • Replace the EPA narrow-phase collision detection with SAT algorithm.
  • The collision detection is now faster and more robust.
  • Code has been refactored such that we do not use STL containers anymore.
  • The way to create a ConvexMeshShape has changed (see the user manual)
  • The vertex indices stride has changed in the TriangleVertexArray for ConvexMeshShape (see the API documentation)
  • The raycasting of a ConvexMeshShape does not use GJK algorithm anymore.
  • The test do detect if a point is inside of a ConvexMeshShape does not use GJK algorithm anymore.
  • A lot of optimizations have been performed and the library is now faster.
  • Release code is now compiled with -O2 compiler optimization level (instead of none)
  • Documentation has been updated

Removed

  • Quaternion constructor with Euler angles has been removed. The Quaternion::fromEulerAngles() method should be used instead.
  • Cylinder and Cone collision shapes have been removed. The ConvexMeshShape collision shape should be used instead.
  • The ProxyShape::setLocalScaling() method has been removed. The ConvexMeshShape, ConcaveMeshShape and HeightFieldShape
    collision shapes can be scaled directly.

Fixed

  • Issues with checkboxes in testbed application were fixed.
  • Fix issue with wrong AABB computation that can cause missing collision in broad-phase
  • Bug #26 has been fixed.
  • Bug #30 has been fixed.
  • Bug #32 has been fixed.
  • Bug #24 has been fixed.
  • Issue #31 has been fixed.
  • Issue #34 has been fixed.
  • Issue #37 has been fixed.
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