Release 0.36.0

[sebcrozet]

v0.36.0 (24 September 2026)

Added

• Soft bodies: SoftBodySet, SoftBody and SoftBodyBuilder (ropes, cloth, trimeshes, volumes…),
  simulated together with rigid bodies, contacts and joints; also on PhysicsWorld.
• Soft-body materials with plasticity, tearing and cutting (SoftBodySet::tear/cut); torn-off
  pieces become soft bodies and report a SoftBodyTearEvent.
• Soft-body clusters (SoftBodySet::add_cluster): rigid proxies that joints and colliders attach to.
• Deformable colliders: ColliderSet::insert_deformable binds a DEFORMABLE trimesh (3D) or
  polyline (2D) to a soft body through a SoftMeshBinding.
• Experimental FEM soft-body solver behind the new fem feature (SoftBodySolver::Fem).
• IntegrationParameters::soft_bodies, soft-body debug-render modes, and soft bodies in snapshots.
• RigidBody(Builder)::additional_pgs_iterations: extra PGS iterations per substep for a body's island.
• DebugRenderMode::PSEUDO_NORMALS draws the pseudo-normals of trimeshes and polylines.
• ColliderBuilder::polyline_with_flags, RigidBodyHandle::is_invalid, and a public
  CoefficientCombineRule::combine.
• PhysicsWorld::detect_collisions (collision detection without stepping) and
  PhysicsWorld::remove_body_with_colliders.
• CCDSolver::invalidate_fixed_targets_cache, for users calling CCDSolver::solve_continuous directly.
• Multibody::remove_dof_coupling, retain_dof_couplings and clear_dof_couplings.
• rapier3d-urdf: UrdfLink::urdf_link_index and UrdfJoint::urdf_joint_index (and
  merged_urdf_joint_indices) map loaded links and joints to their URDF counterparts.
• rapier3d-mjcf: MjcfContactHooks::is_excluded and pair_override query a model's contact rules.
• Testbed: drag bodies with the mouse, a "Debug" tab for the debug-render settings, and a
  "Smooth mesh colliders" option (3D).
• New C bindings (bindings/c): 2D/3D, f32/f64, a C11 header with C++ helpers, and a CMake package.

Modified

• Update to parry 0.31: query results now report the hit sub-shape (e.g. the triangle of a trimesh).
• PhysicsPipeline::step, RigidBodySet::remove, ColliderSet::remove, DebugRenderPipeline::render
  and CCDSolver::solve_continuous take the SoftBodySet.
• EventHandler has a new required method handle_soft_body_tear_event, and
  ChannelEventCollector::new takes a sender for these events.
• ContactPair::manifolds and solver_clusters moved to ContactPair::contacts: use
  pair.manifolds() or pair.rigid().
• The rigid-contact fields of ContactModificationContext moved behind ctx.rigid_mut().
• SolverFlags::COMPUTE_IMPULSES is renamed COMPUTE_RIGID_IMPULSES.
• RigidBodyType::SoftFrame: the rigid proxies of soft bodies, counted as dynamic by is_dynamic.
• DebugRenderObject::SoftBody variant, and new fields in IntegrationParameters,
  DebugRenderStyle and PhysicsWorld (soft_bodies, collision_pipeline).
• CCDSolver::solve_continuous no longer takes scene_changed, and
  RigidBodyCcd::is_moving_fast also takes the body's mass properties.
• Snapshots serialized with previous versions can't be loaded anymore.
• The std feature of rapier2d and rapier2d-f64 now enables parry2d/spade.
• The C, Python, and JavaScript/TypeScript bindings moved to the bindings/ directory.
• The bevy_rapier2d and bevy_rapier3d plugins now live in this repository, in bindings/bevy_rapier.
• Testbed: rigid-body axes are shown by default and polylines are drawn as thick lines (2D) or tubes (3D).

Fixed

• The CCD no longer sweeps against a stale list of fixed colliders after they were added, removed or
  moved during a step where no body needed CCD.
• KinematicCharacterController::solve_character_collision_impulses now pushes every dynamic body
  touched by a compound character, not only the last one.
• A step with dt == 0 no longer produces NaNs: it only applies user changes and detects collisions.
• CollisionPipeline::step no longer trips a debug assertion when a moving body touches a collider.
• Enabling or disabling an impulse joint now updates the islands of its bodies.
• Multibody DoF couplings are no longer lost when multibodies merge or split, and disabled
  self-contacts are no longer re-enabled when they merge.
• PhysicsPipeline::counters now fills the contact pair, contact and constraint counts.
• With max_ccd_substeps > 1: end-of-step AABBs cover the full next step, the step splitter uses
  the current velocity, and heavy bodies under gravity are no longer flagged as fast.
• SpringCoefficients no longer divides by zero when damping_ratio is zero.
• rapier3d-urdf: <origin rpy> angles are now composed as fixed-axis roll-pitch-yaw, as specified.
• rapier3d-urdf: the fixed children of a squeezed empty link stay rigidly attached, and the joint
  taking over the removed link's joint keeps its pivot.
• Testbed (3D): camera_rotation and camera_fwd_dir return the actual camera orientation.