feat: solver improvements + release v0.29.0 (dimforge#876)

* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes

Author: sebcrozet

CHANGELOG.md

@@ -1,3 +1,19 @@
+## v0.29.0 (05 Sept. 2025)
+
+This version contains a significant rework of the internal velocity constraints solver.
+This makes it both simpler and more optimized (making the whole simulation up to 25% faster). For details on all the
+changes, see [#876](https://github.com/dimforge/rapier/pull/876).
+
+Notable changes include:
+
+- Update to parry 0.24 (includes a breaking change where all the `*angular_inertia_sqrt` fields and functions have been
+  replaced by their non-square-root equivalent.
+- Fixed bug where friction on kinematic bodies would affect dynamic bodies much more weakly than it should.
+- In 3D, added a new friction model that is more efficient than the traditional Coulomb friction. This new simplified
+  model is enabled by default and can be changed with `IntegrationParameters::friction_model`.
+- Removed support for the legacy PGS solver. Removed `IntegrationParameters::pgs_legacy` and
+  `::tgs_soft_without_warmstart`.
+
 ## v0.28.0 (08 August 2025)
 
 ### Modified

Cargo.toml

@@ -33,6 +33,7 @@ needless_lifetimes = "allow"
 #parry3d-f64 = { path = "../parry/crates/parry3d-f64" }
 #nalgebra = { path = "../nalgebra" }
 #simba = { path = "../simba" }
+#wide = { path = "../wide" }
 
 #kiss3d = { git = "https://github.com/sebcrozet/kiss3d" }
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }

benchmarks3d/joint_revolute3.rs

@@ -38,7 +38,7 @@ pub fn init_world(testbed: &mut Testbed) {
                 let mut handles = [curr_parent; 4];
                 for k in 0..4 {
                     let density = 1.0;
-                    let rigid_body = RigidBodyBuilder::dynamic().position(positions[k]);
+                    let rigid_body = RigidBodyBuilder::dynamic().pose(positions[k]);
                     handles[k] = bodies.insert(rigid_body);
                     let collider = ColliderBuilder::cuboid(rad, rad, rad).density(density);
                     colliders.insert_with_parent(collider, handles[k], &mut bodies);

benchmarks3d/stacks3.rs

@@ -23,7 +23,7 @@ fn create_tower_circle(
                 * Translation::new(0.0, y, radius);
 
             // Build the rigid body.
-            let rigid_body = RigidBodyBuilder::dynamic().position(pos);
+            let rigid_body = RigidBodyBuilder::dynamic().pose(pos);
             let handle = bodies.insert(rigid_body);
             let collider = ColliderBuilder::cuboid(half_extents.x, half_extents.y, half_extents.z);
             colliders.insert_with_parent(collider, handle, bodies);

crates/rapier2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d-f64"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -69,8 +69,8 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry2d-f64 = "0.23.0"
-simba = "0.9"
+parry2d-f64 = "0.24.0"
+simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 arrayvec = "0.7"
@@ -84,6 +84,7 @@ log = "0.4"
 ordered-float = "5"
 thiserror = "2"
 profiling = "1.0"
+static_assertions = "1"
 
 [dev-dependencies]
 bincode = "1"

crates/rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"
@@ -33,8 +33,8 @@ default = ["dim2", "f32"]
 dim2 = []
 f32 = []
 parallel = ["dep:rayon"]
-simd-stable = ["simba/wide", "simd-is-enabled"]
-simd-nightly = ["simba/portable_simd", "simd-is-enabled"]
+simd-stable = ["simba/wide", "parry2d/simd-stable", "simd-is-enabled"]
+simd-nightly = ["simba/portable_simd", "parry2d/simd-nightly", "simd-is-enabled"]
 # Do not enable this feature directly. It is automatically
 # enabled with the "simd-stable" or "simd-nightly" feature.
 simd-is-enabled = ["dep:vec_map"]
@@ -70,8 +70,8 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry2d = "0.23.0"
-simba = "0.9"
+parry2d = "0.24.0"
+simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 arrayvec = "0.7"
@@ -85,6 +85,10 @@ log = "0.4"
 ordered-float = "5"
 thiserror = "2"
 profiling = "1.0"
+static_assertions = "1"
+
+# TODO: should be re-exported from simba
+wide = "0.7.1"
 
 [dev-dependencies]
 bincode = "1"

crates/rapier3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-f64"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -72,8 +72,8 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry3d-f64 = "0.23.0"
-simba = "0.9"
+parry3d-f64 = "0.24.0"
+simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 arrayvec = "0.7"
@@ -87,6 +87,7 @@ log = "0.4"
 ordered-float = "5"
 thiserror = "2"
 profiling = "1.0"
+static_assertions = "1"
 
 [dev-dependencies]
 bincode = "1"

crates/rapier3d-meshloader/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-meshloader"
-version = "0.9.0"
+version = "0.10.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "STL file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
 profiling = "1.0"
 mesh-loader = "0.1.12"
 
-rapier3d = { version = "0.28.0", path = "../rapier3d" }
+rapier3d = { version = "0.29.0", path = "../rapier3d" }

crates/rapier3d-urdf/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-urdf"
-version = "0.9.0"
+version = "0.10.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "URDF file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
 bitflags = "2"
 urdf-rs = "0.9"
 
-rapier3d = { version = "0.28.0", path = "../rapier3d" }
-rapier3d-meshloader = { version = "0.9.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
+rapier3d = { version = "0.29.0", path = "../rapier3d" }
+rapier3d-meshloader = { version = "0.10.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

crates/rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"
@@ -74,8 +74,8 @@ vec_map = { version = "0.8", optional = true }
 web-time = { version = "1.1", optional = true }
 num-traits = "0.2"
 nalgebra = "0.34"
-parry3d = "0.23.0"
-simba = "0.9"
+parry3d = "0.24.0"
+simba = "0.9.1"
 approx = "0.5"
 rayon = { version = "1", optional = true }
 arrayvec = "0.7"
@@ -89,6 +89,10 @@ log = "0.4"
 ordered-float = "5"
 thiserror = "2"
 profiling = "1.0"
+static_assertions = "1"
+
+# TODO: should be re-exported from simba
+wide = "0.7.1"
 
 [dev-dependencies]
 bincode = "1"