Release v0.19.0

CHANGELOG.md

@@ -1,3 +1,15 @@
+### 0.19.0 (05 Sept. 2025)
+
+### Modified
+
+- Update to Rapier 0.29.0 which includes performance improvements for scenes involving a lot of contact constraints.
+  See https://github.com/dimforge/rapier/pull/876 for details.
+- Renamed the `RigidBody.invPrincipalInertiaSqrt` and `.effectiveWorldInvInertiaSqrt` methods to
+  `RigidBody.invPrincipalInertia` and `.effectiveWorldInvInertia` (removed the `Sqrt` suffix). These methods will now
+  return the actual inverse angular inertia matrix rather than its square root.
+- Removed methods related to the legacy PGS solver: `World.numAdditionalFrictionIterations`,
+  `switchToStandardPgsSolver`, `switchToSmallStepsPgsSolver`, `switchToSmallStepsPgsSolverWithoutWarmstart`.
+
 ### 0.18.2 (13 August 2025)
 
 ### Fixed

builds/prepare_builds/templates/Cargo.toml.tera

@@ -1,6 +1,6 @@
 [package]
 name = "dimforge_{{ js_package_name }}" # Can't be named rapier{{ dimension }}d which conflicts with the dependency.
-version = "0.18.2"
+version = "0.19.0"
 authors = ["Sébastien Crozet <[email protected]>"]
 description = "{{ dimension }}-dimensional physics engine in Rust - official JS bindings."
 documentation = "https://rapier.rs/rustdoc/rapier{{ dimension }}d/index.html"
@@ -27,7 +27,7 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 ] }
 
 [dependencies]
-rapier{{ dimension }}d = { version = "0.28.0", features = [
+rapier{{ dimension }}d = { version = "0.29.0", features = [
     "serde-serialize",
     "debug-render",
     "profiler",

src.ts/dynamics/integration_parameters.ts

@@ -61,13 +61,6 @@ export class IntegrationParameters {
         return this.raw.numSolverIterations;
     }
 
-    /**
-     * Number of addition friction resolution iteration run during the last solver sub-step (default: `4`).
-     */
-    get numAdditionalFrictionIterations(): number {
-        return this.raw.numAdditionalFrictionIterations;
-    }
-
     /**
      * Number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
      */
@@ -116,13 +109,6 @@ export class IntegrationParameters {
         this.raw.numSolverIterations = value;
     }
 
-    /**
-     * Sets the number of addition friction resolution iteration run during the last solver sub-step (default: `4`).
-     */
-    set numAdditionalFrictionIterations(value: number) {
-        this.raw.numAdditionalFrictionIterations = value;
-    }
-
     /**
      * Sets the number of internal Project Gauss Seidel (PGS) iterations run at each solver iteration (default: `1`).
      */
@@ -137,16 +123,4 @@ export class IntegrationParameters {
     set maxCcdSubsteps(value: number) {
         this.raw.maxCcdSubsteps = value;
     }
-
-    public switchToStandardPgsSolver() {
-        this.raw.switchToStandardPgsSolver();
-    }
-
-    public switchToSmallStepsPgsSolver() {
-        this.raw.switchToSmallStepsPgsSolver();
-    }
-
-    public switchToSmallStepsPgsSolverWithoutWarmstart() {
-        this.raw.switchToSmallStepsPgsSolverWithoutWarmstart();
-    }
 }

src.ts/dynamics/rigid_body.ts

@@ -582,8 +582,8 @@ export class RigidBody {
      *
      * Components set to zero are assumed to be infinite along the corresponding principal axis.
      */
-    public invPrincipalInertiaSqrt(): number {
-        return this.rawSet.rbInvPrincipalInertiaSqrt(this.handle);
+    public invPrincipalInertia(): number {
+        return this.rawSet.rbInvPrincipalInertia(this.handle);
     }
 
     // #endif
@@ -594,9 +594,9 @@ export class RigidBody {
      *
      * Components set to zero are assumed to be infinite along the corresponding principal axis.
      */
-    public invPrincipalInertiaSqrt(): Vector {
+    public invPrincipalInertia(): Vector {
         return VectorOps.fromRaw(
-            this.rawSet.rbInvPrincipalInertiaSqrt(this.handle),
+            this.rawSet.rbInvPrincipalInertia(this.handle),
         );
     }
 
@@ -636,23 +636,23 @@ export class RigidBody {
 
     // #if DIM2
     /**
-     * The square-root of the world-space inverse angular inertia tensor of the rigid-body,
+     * The world-space inverse angular inertia tensor of the rigid-body,
      * taking into account rotation locking.
      */
-    public effectiveWorldInvInertiaSqrt(): number {
-        return this.rawSet.rbEffectiveWorldInvInertiaSqrt(this.handle);
+    public effectiveWorldInvInertia(): number {
+        return this.rawSet.rbEffectiveWorldInvInertia(this.handle);
     }
 
     // #endif
 
     // #if DIM3
     /**
-     * The square-root of the world-space inverse angular inertia tensor of the rigid-body,
+     * The world-space inverse angular inertia tensor of the rigid-body,
      * taking into account rotation locking.
      */
-    public effectiveWorldInvInertiaSqrt(): SdpMatrix3 {
+    public effectiveWorldInvInertia(): SdpMatrix3 {
         return SdpMatrix3Ops.fromRaw(
-            this.rawSet.rbEffectiveWorldInvInertiaSqrt(this.handle),
+            this.rawSet.rbEffectiveWorldInvInertia(this.handle),
         );
     }