Api improvements and fixes

.vscode/settings.json

@@ -0,0 +1,5 @@
+{
+    "rust-analyzer.cargo.features": [
+        "simd-stable"
+    ]
+}

.vscode/tasks.json

@@ -2,9 +2,14 @@
     // See https://go.microsoft.com/fwlink/?LinkId=733558
     // for the documentation about the tasks.json format
     "version": "2.0.0",
+    "options": {
+        "env": {
+            "RUST_BACKTRACE": "1"
+        }
+    },
     "tasks": [
         {
-            "label": "run 3d (no-simd - release) ",
+            "label": "🚀 run 3d",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -20,7 +25,23 @@
             "group": "build"
         },
         {
-            "label": "run 3d (simd - release) ",
+            "label": "🚀 run 3d − 💌 deterministic",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples3",
+                "--release",
+                "--features",
+                "enhanced-determinism",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🚀 run 3d − 🌈 simd",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -36,7 +57,7 @@
             "group": "build"
         },
         {
-            "label": "run 3d (simd - parallel - release) ",
+            "label": "🚀 run 3d − 🌈 simd 🪢 parallel",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -52,7 +73,7 @@
             "group": "build"
         },
         {
-            "label": "run 2d (no-simd - release) ",
+            "label": "🚀 run 2d",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -68,7 +89,7 @@
             "group": "build"
         },
         {
-            "label": "run 2d (simd - release) ",
+            "label": "🚀 run 2d − 🌈 simd",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -84,7 +105,7 @@
             "group": "build"
         },
         {
-            "label": "run 2d (simd - parallel - release) ",
+            "label": "🚀 run 2d − 🌈 simd 🪢 parallel",
             "type": "shell",
             "command": "cargo",
             "args": [
@@ -98,6 +119,155 @@
                 "--pause"
             ],
             "group": "build"
-        }
+        },
+        {
+            "label": "⏱ bench 3d",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 3d − 🌈 simd",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "simd-stable,other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 3d − 🌈 simd 🪢 parallel",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks3",
+                "--release",
+                "--features",
+                "simd-stable,other-backends,parallel",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 2d",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 2d − 🌈 simd",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "simd-stable,other-backends",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "⏱ bench 2d − 🌈 simd 🪢 parallel",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_benchmarks2",
+                "--release",
+                "--features",
+                "simd-stable,other-backends,parallel",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🪲 debug 3d",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples3",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🪲 debug 3d − 🌈 simd",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples3",
+                "--features",
+                "simd-stable",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🪲 debug 3d − 🌈 simd 🪢 parallel",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "run",
+                "--bin",
+                "all_examples3",
+                "--features",
+                "simd-stable,parallel",
+                "--",
+                "--pause"
+            ],
+            "group": "build"
+        },
+        {
+            "label": "🛠 tests",
+            "type": "shell",
+            "command": "cargo",
+            "args": [
+                "test"
+            ],
+            "group": "build"
+        },
     ]
+]
 }

CHANGELOG.md

@@ -1,3 +1,50 @@
+
+## Unreleased
+### Fixed
+- Fix the simulation when the `parallel` feature is enabled.
+- Fix bug where damping would not be applied properly to some bodies.
+- Fix panics caused by various situations (contact or joints) involving rigid-bodies with locked translations/rotations.
+
+
+### Modified
+- Rename `JointHandle` to `ImpulseJointHandle`.
+- Rename `RigidBodyMassPropsFlags` to `LockedAxes`.
+- Rename `RigidBody::apply_force`, `::apply_torque`, `::apply_force_at_point` to `::add_force`,
+  `::add_torque`, and `::add_force_at_point` to better reflect the fact that they are not cleared at the end
+  of the timestep.
+- Rename `RigidBodyType::Static` to `RigidBodyType::Fixed` to avoid confusion with the `static` keyword.
+- All method referring to `static` rigid-bodies now use `fixed` instead of `static`.
+- Rename `RigidBodyBuilder::new_static, new_kinematic_velocity_based, new_kinematic_velocity_based` to
+  `RigidBodyBuilder::fixed, kinematic_velocity_based, kinematic_velocity_based`.
+- The `ContactEvent` and `IntersectionEvent` have been replaced by a single enum `CollisionEvent` in order
+  to simplify the user’s event handling.
+- The `ActiveEvents::CONTACT_EVENTS` and `ActiveEvents::INTERSECTION_EVENTS` flags have been replaced by a single
+  flag `ActiveEvents::COLLISION_EVENTS`.
+- Joint motors no longer have a `VelocityBased` model. The new choices are `AccelerationBased` and `ForceBased`
+  which are more stable.  
+- Calling the `.build()` function from builders (`RigidBodyBuilder`, `ColliderBuilder`, etc.) is no longer necessary
+  whan adding them to sets. It is automatically called thanks to `Into<_>` implementations.  
+
+### Semantic modifications
+These are changes in the behavior of the physics engine that are not necessarily
+reflected by an API change:
+- `RigidBody::set_linvel` and `RigidBody::set_angvel` no longer modify the velocity of static bodies.
+- `RigidBody::set_body_type` will reset the velocity of a rigid-body to zero if it is static.
+- Don’t automatically clear forces at the end of a timestep.
+- Don’t reset the velocity of kinematic bodies to zero at the end of the timestep.
+- Events `CollisionEvent::Stopped` are now generated after a collider is removed. 
+
+### Added
+- Significantly improve the API of joints by adding:
+  * Builders based on the builder pattern.
+  * Getters and setters for all joints.
+  * Method to convert a `GenericJoint` to one of the more specific joint type.
+- Improve stability of joint motors.
+- Adds a `bool` argument to `RigidBodySet::remove`. If set to `false`, the colliders attached to the rigid-body
+  won’t be automatically deleted (they will only be detached from the deleted rigid-body instead).
+- Add `RigidBody::reset_forces` and `RigidBody::reset_torques` to reset all the forces and torques added to the
+  rigid-bodiy by the user.
+
 ## v0.12.0-alpha.0 (2 Jan. 2022)
 ### Fixed
 - Fixed `RigidBody::restrict_rotations` to properly take into account the axes to lock.

Cargo.toml

@@ -24,9 +24,11 @@ resolver = "2"
 [profile.release]
 #debug = true
 #codegen-units = 1
-#opt-level = 1
 #lto = true
 
+[profile.dev]
+opt-level = 1
+
 
 #[profile.dev.package.rapier3d]
 #opt-level = 3

benchmarks2d/balls2.rs

@@ -42,17 +42,15 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shifty + centery;
 
             let status = if j == 0 {
-                RigidBodyType::Static
+                RigidBodyType::Fixed
             } else {
                 RigidBodyType::Dynamic
             };
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new(status)
-                .translation(vector![x, y])
-                .build();
+            let rigid_body = RigidBodyBuilder::new(status).translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::ball(rad).build();
+            let collider = ColliderBuilder::ball(rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }

benchmarks2d/boxes2.rs

@@ -15,25 +15,23 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let ground_size = 25.0;
 
-    let rigid_body = RigidBodyBuilder::new_static().build();
+    let rigid_body = RigidBodyBuilder::fixed();
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size, 1.2).build();
+    let collider = ColliderBuilder::cuboid(ground_size, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![ground_size, ground_size * 2.0])
-        .build();
+        .translation(vector![ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
-    let rigid_body = RigidBodyBuilder::new_static()
+    let rigid_body = RigidBodyBuilder::fixed()
         .rotation(std::f32::consts::FRAC_PI_2)
-        .translation(vector![-ground_size, ground_size * 2.0])
-        .build();
+        .translation(vector![-ground_size, ground_size * 2.0]);
     let handle = bodies.insert(rigid_body);
-    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2).build();
+    let collider = ColliderBuilder::cuboid(ground_size * 2.0, 1.2);
     colliders.insert_with_parent(collider, handle, &mut bodies);
 
     /*
@@ -52,11 +50,9 @@ pub fn init_world(testbed: &mut Testbed) {
             let y = j as f32 * shift + centery + 2.0;
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::new_dynamic()
-                .translation(vector![x, y])
-                .build();
+            let rigid_body = RigidBodyBuilder::dynamic().translation(vector![x, y]);
             let handle = bodies.insert(rigid_body);
-            let collider = ColliderBuilder::cuboid(rad, rad).build();
+            let collider = ColliderBuilder::cuboid(rad, rad);
             colliders.insert_with_parent(collider, handle, &mut bodies);
         }
     }