Summary

This release contains the new Trimesh and ConeTwistConstraint classes along with a few fixes and optimizations for convex collisions. It should be fully backwards compatible with the previous v0.6.1.

Fixes

• Fixed narrowphase bug for compound sphere/sphere shape collision.
• Fixed bug in RaycastVehicle that didn't caused the world listeners to not add/remove properly.
• Fixed sphere/plane contacts points when radius != 1.
• Fixed bug in Heightfield that made some things pass through the field.
• Fix in ConvexPolyhedron.prototype.computeEdges along with some narrowphase optimizations makes convex/convex collisions more performant.

Additions

• Added methods .raycastAll, .raycastClosest and .raycastAny to World.
• Added id properties to Equation and Shape.
• Added Trimesh class, including sphere and plane collisions.
• Added method Body.prototype.vectorToLocalFrame.
• Made method Body.prototype.addShape chainable.
• Added options for Body constructor: shape, fixedRotation, allowSleep, sleepSpeedLimit, sleepTimeLimit, collisionFilterGroup, collisionFilterMask, angularDamping.
• Per-material restitution and friction that falls back on the old behavior. See properties friction and restitution in the Material class.
• DistanceConstraint distance now defaults to the distance between the bodies.
• Exposed Ray.pointInTriangle.
• Added methods vectorToWorldFrame, vectorToLocalFrame, pointToLocal and pointToWorld to Transform.
• Added method World.prototype.clearForces.
• Added method ContactEquation.prototype.getImpactVelocityAlongNormal.
• Sphere constructor now throws an error if radius is negative.
• The AABB class is now exposed.
• Added methods AABB.prototype.getCorners, .toLocalFrame, .toWorldFrame, .clone and .contains.
• Added property material to Shape instances. It is thus possible to set per-shape materials, that will override the Body material if it is set.
• Added World.prototype.removeBody, deprecated World.prototype.remove.
• Added Constraint.prototype.enable and .disable.
• HingeConstraint now extends PointToPointConstraint class.
• Added static properties Vec3.UNIT_X, Vec3.UNIT_Y, Vec3.UNIT_Z.
• Added class ConeTwistConstraint.
• Added class Octree.
• Added property uniqueAxes to ConvexPolyhedron.

Removed

• HingeConstraint.prototype.getRotationalEquation1 - use property .rotationalEquation1 instead
• HingeConstraint.prototype.getRotationalEquation2 - use property .rotationalEquation2 instead
• HingeConstraint.prototype.getPointToPointEquation1 - use property .equationX instead
• HingeConstraint.prototype.getPointToPointEquation2 - use property .equationY instead
• HingeConstraint.prototype.getPointToPointEquation3 - use property .equationZ instead

Deprecated

• World.prototype.remove - use World.prototype.removeBody instead.
• Passing result to Ray.prototype.intersectBody(body, result) is deprecated - please set the .result property of the Ray instead.
• Vec3.prototype.norm and .norm2 are deprecated - use .length and .lengthSquared() instead.
• Vec3.prototype.mult is deprecated - use .scale instead.
• The preStep and postStep properties of Body are deprecated - use the events with the same name in World instead.
• World.prototype.numObjects() is deprecated - use world.bodies.length instead.
• World.prototype.rayTest is deprecated - use .raycastAll, .raycastClosest or .raycastAny instead.

Changes

• Renamed body.tau to body.torque

Bug fixes

• Fixed bug that prevented Ray from intersecting compound bodies properly.
• Bodies should not fall through Heightfield any more.
• Fixed update bug in AABB for compound bodies.
• Fixed bug in AABB.prototype.overlaps.

Other

• The bundles should now work even if RequireJS is present on the same page.
• It's now possible to pass quaternion and velocities via the Body constructor.
• More docs!

Changes

• Renamed RigidBody to just Body and changed the constructor signature.
• Removed the Compound class, since a Body now contains a flat Shape hierarchy.
• Renamed property .motionState to .type in Body.
• Renamed the 'collide' event .with property to .body.
• Renamed ObjectPool to just Pool.
• World now dispatches events 'addBody' and 'removeBody'.
• Changed API for adding forces and impulses to a body. See Body.applyImpulse and Body.applyForce.
• Removed World.collision_matrix and instead added World.collisionMatrix and World.collisionMatrixPrevious. They both now work with body indices instead of body IDs.
• Renamed Body.calculateAABB to .computeAABB. Added Body.aabbNeedsUpdate.
• ConvexPolyhedron constructor now calculates normals instead of taking them as a parameter.
• Reuse of various event objects to minimize object creation in the step loop.
• Removed unused class ContactPoint.
• Changed the signature of Broadphase.collisionPairs to Broadphase.collisionPairs(world,pairs1,pairs2), removing the need of an array return value.
• Renamed ContactGenerator to Narrowphase.
• Changed direction of the available math .copy methods, now they follow the pattern dest.copy(source).
• Rewrote large parts of the Ray class. Now it has a start point and an end point, instead of a start point and a direction.
• Improved sleeping.
• Renamed property .last_dt to .dt in World.

Additions

• Added class Spring.
• Added class SAPBroadphase.
• Added class TupleDictionary.
• Added method .setFromEuler to Quaternion.
• Added methods .transpose, .setRotationFromQuaternion, .scale to class Mat3.
• Added Broadphase.useBoundingBoxes, .doBoundingBoxBroadphase and .intersectionTest.
• Added Body.collisionFilterGroup and Body.collisionFilterMask.
• Added class GridBroadphase, though it only supports Plane and Sphere for now.
• Added class SPHSystem.
• Added classes RaycastVehicle and WheelInfo.
• Added class RigidVehicle.
• Added class Heightfield.