- The performance of the collision detection and rigid bodies simulation (PhysicsWorld::update() method) has been improved significantly (1.7x speedup measured in [PEEL](https://github.com/Pierre-Terdiman/PEEL) scenes)
- New scenes have been added to the testbed application (Box Tower, Ragdoll, Rope, Ball And Socket Joint,Bridge, Hinge Joint, Hinge Joint chain, Ball and
- Robustness of polyhedron vs polyhedron collision detection has been improved in SAT algorithm (face contacts are favored over edge-edge contacts for better stability)
- A lot of code warnings have been fixed [#221](https://github.com/DanielChappuis/reactphysics3d/issues/221)[#222](https://github.com/DanielChappuis/reactphysics3d/issues/222)[#223](https://github.com/DanielChappuis/reactphysics3d/issues/223)[#224](https://github.com/DanielChappuis/reactphysics3d/issues/224)
- The default warning level is not set anymore in CMakeLists.txt file (Issue [#220](https://github.com/DanielChappuis/reactphysics3d/issues/220))
- Issue with collision not working when setting a body to be static before calling updateMassPropertiesFromColliders() (Issue [#225](https://github.com/DanielChappuis/reactphysics3d/issues/225))
- A RigidBody::getLocalCenterOfMass() method has been added to retrieve the current local-space center of mass of a rigid body
- Add PhysicsCommon class that needs to be instanciated at the beginning and is used as a factory for other objects of the library (see the user manual)
- The RigidBody::updateLocalCenterOfMassFromColliders() method has been added to compute and set the center of mass of a body using its colliders
- The RigidBody::updateLocalInertiaTensorFromColliders() method has been added to compute and set the local inertia tensor of a body using its colliders
- The RigidBody::updateMassFromColliders() method has been added to compute and set the mass of a body using its colliders
- A Material nows has a mass density parameter that can be set using the Material::setMassDensity() method. The mass density is used to compute the mass of a collider when computing the mass of a rigid body
- A Collider can now be a trigger. This collider will be used to only report collisions with another collider but no collision response will be applied. You can use the Collider::setIsTrigger() method for this.
- The EventListener class now has a onTrigger() method that is called when a trigger collider is colling with another collider
- In the EventListener, the onContact() and onTrigger() method now reports the type of event (start, stay, exit) for each contact. This way the user can know whether it's a new contact or not or when two colliders are not in contact anymore
- A DebugRenderer class has been added in order to display debug info (colliders, AABBs, contacts, ...) in your simulation using graphics primitives (lines, triangles).
- A RigidBody::applyForceAtLocalPosition() method has been added to apply a force at a given position of the rigid body in local-space
- A default logger can be instanciated using the PhysicsCommon::createDefaultLogger() method
- The CMakeLists.txt file of the library has been refactored to use modern CMake. The targets are now exported when you install the library so that you can import the library with the find_package(ReactPhysics3D) function in your own CMakeLists.txt file
- Issues [#125](https://github.com/DanielChappuis/reactphysics3d/issues/125) and [#106](https://github.com/DanielChappuis/reactphysics3d/issues/106) with CMake install of the library have been fixed
- An instance of the BoxShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createBoxShape() method
- An instance of the SphereShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createSphereShape() method
- An instance of the CapsuleShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createCapsuleShape() method
- An instance of the ConvexMeshShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createConvexMeshShape() method
- An instance of the HeightFieldShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createHeightFieldShape() method
- An instance of the ConcaveMeshShape class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createConcaveMeshShape() method
- An instance of the PolyhedronMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createPolyhedronMesh() method
- An instance of the TriangleMesh class cannot be instanciated directly anymore. You need to use the PhysicsCommon::createTriangleMesh() method
- The ProxyShape class has been renamed to Collider. The CollisionBody::addCollider(), RigidBody::addCollider() methods have to be used to create and add a collider to a body. Then methods CollisionBody::removeCollider(), RigidBody::removeCollider() need to be used to remove a collider from a body.
- The RigidBody::addCollider() method (previously addProxyShape() method) does not take a "mass" parameter anymore
- Now, the local inertia tensor of a rigid body has to be set using a Vector3 instead of a Matrix3x3. You only need to provide the three diagonal values of the matrix
- Now, you need to manually call the RigidBody::updateMassPropertiesFromColliders() method after adding colliders to a rigid body to recompute its inertia tensor, center of mass and mass. There are other methods that you can use form that (see the user manual)
- It is not possible anymore to set custom pool and stack frame allocators. Only the base allocator can be customized when creating a PhysicsCommon instance.
- Issues with checkboxes in testbed application were fixed.
- Fix issue with wrong AABB computation that can cause missing collision in broad-phase
- Bug [#26](https://github.com/DanielChappuis/reactphysics3d/issues/26) has been fixed.
- Bug [#30](https://github.com/DanielChappuis/reactphysics3d/issues/30) has been fixed.
- Bug [#32](https://github.com/DanielChappuis/reactphysics3d/issues/32) has been fixed.
- Issue [#31](https://github.com/DanielChappuis/reactphysics3d/issues/31) has been fixed.
- Issue [#34](https://github.com/DanielChappuis/reactphysics3d/issues/34) has been fixed.
- Issue [#37](https://github.com/DanielChappuis/reactphysics3d/issues/37) has been fixed.
## Version 0.6.0 (April 15, 2016)
### Added
- Support for static concave triangular mesh collision shape.
- Support for height field collision shape.
- Support for rolling resistance.
- It is now possible to change the local scaling of a collision shape.
- Add new constructor of ConvexMeshShape that accepts a triangular mesh.
- It is now easier to use your own narrow-phase collision detection algorithm.
- The CollisionWorld and DynamicsWorld now automatically destroys bodies and joints that have not been destroyed at the end.
- New testbed application with demo scenes.
### Changed
- The DynamicsWorld::update() method now takes the time step for the next simulation step in parameter.
## Version 0.5.0 (March 4, 2015)
### Added
- It is now possible to use multiple collision shapes per body.
- Ray casting support.
- Add methods to check if a point is inside a body or a proxy shape.
- Add collision filtering using collision categories (with bit masks).
- It is possible to attach user data to a body or a proxy shape.
- It is now possible to create a quaternion using Euler angles.
- It now possible to activate of deactivate a body.
- Differentiation between dynamic, kinematic and static bodies.
- Gravity can now be changed after the creation of the world.
- The center of mass and inertia tensor of a body can be set manually (center of mass can be different from body origin).
- Add a simulation step callback in the EventListener class that is called at each internal physics tick.
- Add methods to transform points/vectors from/into local-space/world-space coordinates of a body.
- Add CollisionWorld::testAABBOverlap() method to test overlap between two bodies or two proxy shapes.
- Add a ray casting example.
- Add unit tests for ray casting and collision detection.
### Changed
- Replace the Sweep-And-Prune algorithm by a Dynamic AABB Tree for the broad-phase collision detection.
- The center of mass of a body is now automatically computed from its collision shapes.
- Use GLFW instead of GLUT/Freeglut for the examples.
### Fixed
- Fix two issues in the EPA algorithm.
## Version 0.4.0 (October 7, 2013)
### Added
- Add collision shapes (Capsule, Convex Mesh).
- Add joints (Ball and Socket, Hinge, Slider, Fixed).
- Add sleeping technique for inactive bodies.
- Add velocity damping.
- It is now easier to apply force and torque to a rigid body.
- Add the EventListener class to allow the user to be notified when some events occur (contacts, …).
- Add examples for the joints and collision shapes.
- Make possible to modify the collision margin of some collision shapes.
- Add a Material class to keep track of the properties of a rigid body (friction coefficient, bounciness, …).
- Add a hierarchical real-time profiler.
### Changed
- Collision shapes now use the internal memory allocator.
- New internal memory allocator.
### Removed
- Remove the world gravity force from the external force of rigid bodies and allow the user to disable the gravity on a given body.
- Reduce the allocated memory of the broad-phase when several bodies are removed from the world.
### Fixed
- Fix issue in the Sweep-And-Prune broad-phase collision detection (thanks to Aleksi Sapon).
- Fix issue in the contact solver resulting in less jittering.
## Version 0.3.0
### Added
- Implementation of a dedicated collision detection algorithm for spheres against spheres instead of using GJK/EPA algorithm.
- Make possible to use a unique instance of a collision shape for multiple rigid bodies.
- Create the API documentation using Doxygen.
- Add Unit tests
### Changed
- The Sweep-and-Prune broad-phase collision detection algorithm has been rewritten according to the technique described by Pierre Terdiman at http://www.codercorner.com/SAP.pdf to be much more efficient than the previous naive implementation.
- The contact solver has been rewritten to use the Sequential Impulses technique from Erin Catto which is mathematically equivalent to the Projected Gauss Seidel technique that was used before. The Sequential Impulses technique is more intuitive.
- Make GJK/EPA algorithm more robust for spheres.
- Change the structure of the code for a better separation between the collision detection and the dynamics simulation code.
## Version 0.2.0
### Added
- Add the GJK/EPA algorithm for convex shapes collision detection
- Persistent contacts storing between frames
- Add Sphere, Cylinder and Cone collision shapes
- Add the Transform class for better handling of position and orientation of rigid bodies
- It is now possible to approximate the inertia tensor of rigid bodies using the collision shape inertia tensor.
- The AABB is now computed automatically using the collision shape
- Add the MemoryPool class to avoid intense dynamic allocation during the simulation
