Release v0.22.0

[sebcrozet]

0.22.0

Fixed

• Fix bug in BVH tree node removal.
• Fix bug in BVH tree building from exactly two leaves.

0.22.0-beta.1

Fixed

• Fix invalid BVH state that could be reached after a removal resulting in a partial root.

0.22.0-beta.0

Added

• Add a new Bvh acceleration data-structure. It replaces Qbvh entirely. It supports:
  • Traversals (best-first, depth-first, BVTT, leaf iterators, and leaf pairs iterator).
  • It can be constructed either incrementally by inserting nodes, or from a set of leaves using either the
    binned building strategy or the PLOC (without parallelism) strategy.
  • Dynamic leaf insertion, update, removal.
  • Incremental tree rebalancing.

Fixed

• Fix clip_aabb_line crashing when given incorrect inputs (zero length direction or NAN).
• Fix Segment::intersects_ray returning false-positive when the segment is zero-length. (#31).
• Expose utils::sort3 and utils::sort2.

Modified

• The local_point_cloud_aabb, point_cloud_aabb, and Aabb::from_points now takes an iterator over point values instead
  of an iterator to point references. Variants taking point references still exist and are named local_point_cloud_aabb_ref,
  point_cloud_aabb_ref and Aabb::from_points_ref.
• Renamed SimdCompositeShape and TypedSimdCompositeShape to CompositeShape and TypedCompositeShape`.
• The TypedCompositeShape trait now derives from CompositeShape.
• Removed every *Visitor structures. Instead, either call Bvh::traverse (or Bvh::search_best, or Bvh::leaves, or
  bvh::leaf_pairs), or wrap your composite shape into CompositeShapeRef to access some generic implementation of
  various geometric queries for any composite shape.
• All composite shapes now rely on the new Bvh acceleration structure instead of Qbvh.
• The Qbvh has been removed. Use Bvh instead.