Release notes§

This lists the change brought by all major releases. The corresponding source code may be found based on tags on github.

Update to nalgebra 0.14.
The EPA algorithm in both 2D and 3D.
Voronoï region based simplex projection algorithms for 2D and 3D (and used for the GJK instead of the n-dimensional Johnson algorithm).
SupportMap::support_point_toward that takes a direction that is already normalized.

The Plane geometry is now initialized with a Unit vector. Its .normal() method also returns a Unit vector.
The Contact<...> structure now represents the contact normal as a Unit<P::Vector> instead of just a P::Vector.
All the fields of CollisionObject are now private and must be accessed using methods.
The trait Point now requires additional methods to compute the normal of a face and to project the origin on it.
Everything is now Send/Sync (useful for, e.g., ECS compatibility).
Rename RichPointQuery -> PointQueryWithLocation.
Rename RichPointQuery::project_point_with_extra_info -> PointQueryWithLocation::project_point_with_location.
Rename CollisionWorld::deferred_add -> CollisionWorld::add. Now, the addition is performed immediately.
Rename CollisionWorld::deferred_remove -> CollisionWorld::remove. Now, the removal is performed immediately.
Rename CollisionWorld::deferred_set_position -> CollisionWorld::set_position. Now, the change of position is performed immediately.
The interface of BroadPhase has been significantly altered: now the uid allocated to each object added to the broad phase is automatically generated by the broad phase itself.
Rename BroadPhase::deferred_remove -> BroadPhase::remove. Now the removal is performed immediately.

The ShapeHandle is now a Arc<Shape<P, M>> instead of Arc<Box<Shape<P, M>>> (this removes one allocation indirection).
Update to nalgebra 0.12.0.

Re-export Ray2, Ray3, RayIntersection2, and RayIntersection3 on the query module.

Rename .perform_removals_and_broad_phase() -> .perform_additions_removals_and_broad_phase().
Rename the collision world method .add() to .deferred_add().
The collision world .deferred_set_position() now fails with a meaningful error when the user attempts to set the position of an object not actually added (including those that have been .deferred_add()-ed without a subsequent .update().

Added 2D and 3D testbeds (available on crates.io as ncollide_testbed2d and ncollide_testbed3d).
Added a method to the narrow phase to retrieve all the proximity pairs.
Added a method to the collision world to retrieve all the proximity pairs.
Added a method to the collision world to retrieve the collision object from its identifier.

Merge the ncollide_queries and ncollide_entities crates into ncollide_geometry.
Rename the geometry module to query.
::implicit_shape_aabb(...) becomes ::support_map_aabb(...)
CompositeShape::aabb_at(...) now returns an AABB by-value (instead of by-ref).
PointQuery::distance_to_point(...) now has a solid flag as well.
Point queries result now indicates if the point was inside of the object or not by returning a PointProjection structure instead of just the point.
Rename CollisionGroups::can_collide_with to CollisionGroups::can_interact_with.
Rename NarrowPhase::handle_proximity to NarrowPhase::handle_interaction.
Rename all .*CollisionDetector to .*ContactGenerator. Methods have been renamed as well (e.g. .get_collision_algorithm becomes .get_contact_algorithm, .colls becomes .contacts, etc.)
Rename CollisionQueryType to GeometricQueryType.
Moved the ray and point modules into the query module. Also, they are renamed ray_internal and point_internal.

Added proximity queries, including persistant proximity detector and algorithm dispatcher.
Added methods to set directly collision group membership/whitelist/blacklist.

The last type parameter of the BVTCostFn trait (the user-defined data return by leaves) is now an associated type.
The shape handles Arc<Box<Repr<P, M>>> are now wrapped into a structure with a more explicit name: ShapeHandle<P, M>.
Renamed Convex to ConvexHull
Swapped the first two arguments of CompositeShape::map_transformed_part_at.
All fields of Polyline are now private. Added corresponding accessors.