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Release v0.24.0 (#820)
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‎CHANGELOG.md‎

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## Unreleased
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## v0.24.0 (10 April 2025)
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### Added
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- `IntegrationParameters` now implements `PartialEq`.
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### Modified
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- Update dependencies (including `parry` 0.19).
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## v0.23.1 (05 March 2025)
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### Added

‎crates/rapier2d-f64/Cargo.toml‎

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[package]
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name = "rapier2d-f64"
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version = "0.23.1"
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version = "0.24.0"
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authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
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description = "2-dimensional physics engine in Rust."
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documentation = "https://docs.rs/rapier2d"
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web-time = { version = "1.1", optional = true }
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num-traits = "0.2"
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nalgebra = "0.33"
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parry2d-f64 = "0.18.0"
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parry2d-f64 = "0.19.0"
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simba = "0.9"
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approx = "0.5"
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rayon = { version = "1", optional = true }

‎crates/rapier2d/Cargo.toml‎

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[package]
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name = "rapier2d"
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version = "0.23.1"
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version = "0.24.0"
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authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
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description = "2-dimensional physics engine in Rust."
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documentation = "https://docs.rs/rapier2d"
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web-time = { version = "1.1", optional = true }
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num-traits = "0.2"
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nalgebra = "0.33"
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parry2d = "0.18.0"
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parry2d = "0.19.0"
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simba = "0.9"
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approx = "0.5"
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rayon = { version = "1", optional = true }

‎crates/rapier3d-f64/Cargo.toml‎

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[package]
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name = "rapier3d-f64"
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version = "0.23.1"
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version = "0.24.0"
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authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
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description = "3-dimensional physics engine in Rust."
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documentation = "https://docs.rs/rapier3d"
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web-time = { version = "1.1", optional = true }
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num-traits = "0.2"
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nalgebra = "0.33"
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parry3d-f64 = "0.18.0"
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parry3d-f64 = "0.19.0"
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simba = "0.9"
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approx = "0.5"
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rayon = { version = "1", optional = true }

‎crates/rapier3d-meshloader/Cargo.toml‎

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[package]
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name = "rapier3d-meshloader"
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version = "0.4.0"
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version = "0.5.0"
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authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
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description = "STL file loader for the 3D rapier physics engine."
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documentation = "https://docs.rs/rapier3d-meshloader"
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profiling = "1.0"
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mesh-loader = "0.1.12"
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rapier3d = { version = "0.23", path = "../rapier3d" }
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rapier3d = { version = "0.24", path = "../rapier3d" }

‎crates/rapier3d-meshloader/src/lib.rs‎

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/// # Parameters
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/// - `path`: the file’s path.
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/// - `converter`: controls how the shapes are computed from the content. In particular, it lets
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/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
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/// bounding box, etc.
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/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
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/// bounding box, etc.
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/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
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/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
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/// in [`LoadedShape::raw_mesh`] remains unscaled.
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/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
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/// in [`LoadedShape::raw_mesh`] remains unscaled.
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pub fn load_from_path(
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path: impl AsRef<Path>,
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converter: &MeshConverter,
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/// # Parameters
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/// - `raw_mesh`: the raw mesh.
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/// - `converter`: controls how the shape is computed from the STL content. In particular, it lets
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/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
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/// bounding box, etc.
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/// you specify if the computed [`SharedShape`] is a triangle mesh, its convex hull,
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/// bounding box, etc.
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/// - `scale`: the scaling factor applied to the geometry input to the `converter`. This scale will
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/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
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/// in [`LoadedShape::raw_mesh`] remains unscaled.
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/// affect at the geometric level the [`LoadedShape::shape`]. Note that raw mesh value stored
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/// in [`LoadedShape::raw_mesh`] remains unscaled.
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pub fn load_from_raw_mesh(
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raw_mesh: &Mesh,
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converter: &MeshConverter,

‎crates/rapier3d-urdf/Cargo.toml‎

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[package]
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name = "rapier3d-urdf"
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version = "0.4.0"
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version = "0.5.0"
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authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
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description = "URDF file loader for the 3D rapier physics engine."
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documentation = "https://docs.rs/rapier3d-urdf"
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bitflags = "2"
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urdf-rs = "0.9"
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rapier3d = { version = "0.23", path = "../rapier3d" }
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rapier3d-meshloader = { version = "0.4.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
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rapier3d = { version = "0.24", path = "../rapier3d" }
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rapier3d-meshloader = { version = "0.5.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

‎crates/rapier3d-urdf/src/lib.rs‎

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/// - `path`: the path of the URDF file.
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/// - `options`: customize the creation of rapier objects from the URDF description.
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/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
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/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
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/// to the file path. If `mesh_dir` is `None` then the mesh directory is assumed
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/// to be the same directory as the one containing the URDF file.
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/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
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/// to the file path. If `mesh_dir` is `None` then the mesh directory is assumed
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/// to be the same directory as the one containing the URDF file.
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pub fn from_file(
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path: impl AsRef<Path>,
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options: UrdfLoaderOptions,
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/// - `str`: the string content of an URDF file.
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/// - `options`: customize the creation of rapier objects from the URDF description.
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/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
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/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
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/// to the file path.
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/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
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/// to the file path.
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pub fn from_str(
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options: UrdfLoaderOptions,
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/// - `robot`: the robot loaded from an URDF file.
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/// - `options`: customize the creation of rapier objects from the URDF description.
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/// - `mesh_dir`: the base directory containing the meshes referenced by the URDF file. When
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/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
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/// to the file path.
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/// a mesh reference is found in the URDF file, this `mesh_dir` is appended
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/// to the file path.
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pub fn from_robot(robot: &Robot, options: UrdfLoaderOptions, mesh_dir: &Path) -> Self {
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let mut name_to_link_id = HashMap::new();
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let mut link_is_root = vec![true; robot.links.len()];

‎crates/rapier3d/Cargo.toml‎

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[package]
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name = "rapier3d"
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version = "0.23.1"
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version = "0.24.0"
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authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
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description = "3-dimensional physics engine in Rust."
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documentation = "https://docs.rs/rapier3d"
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web-time = { version = "1.1", optional = true }
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num-traits = "0.2"
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nalgebra = "0.33"
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parry3d = "0.18.0"
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parry3d = "0.19.0"
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simba = "0.9"
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approx = "0.5"
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rayon = { version = "1", optional = true }

‎crates/rapier_testbed2d-f64/Cargo.toml‎

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[package]
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name = "rapier_testbed2d-f64"
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version = "0.23.1"
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version = "0.24.0"
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authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
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description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
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homepage = "http://rapier.rs"
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[dependencies.rapier]
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package = "rapier2d-f64"
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path = "../rapier2d-f64"
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version = "0.23.0"
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version = "0.24.0"
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features = ["serde-serialize", "debug-render", "profiler"]

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