Release 0.36.0

.github/workflows/bevy-rapier.yml

@@ -60,11 +60,16 @@ jobs:
       - uses: Swatinem/rust-cache@v2
         with:
           workspaces: bindings/bevy_rapier
+          save-if: ${{ github.ref == 'refs/heads/master' }}
       - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
       - name: Cargo doc
         run: cargo doc --no-deps
-  test:
+  clippy:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        dim: [2, 3]
     env:
       RUSTFLAGS: -D warnings
     steps:
@@ -75,26 +80,77 @@ jobs:
       - uses: Swatinem/rust-cache@v2
         with:
           workspaces: bindings/bevy_rapier
+          key: clippy-${{ matrix.dim }}d
+          save-if: ${{ github.ref == 'refs/heads/master' }}
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
+      - name: Clippy
+        run: cargo clippy --verbose -p bevy_rapier${{ matrix.dim }}d --examples
+      - name: Clippy (debug-render, simd, serde)
+        run: cargo clippy --verbose -p bevy_rapier${{ matrix.dim }}d --features debug-render-${{ matrix.dim }}d,simd8,serde-serialize,picking-backend
+  test:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        dim: [2, 3]
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          workspaces: bindings/bevy_rapier
+          key: test-${{ matrix.dim }}d
+          save-if: ${{ github.ref == 'refs/heads/master' }}
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
+      - name: Test
+        run: cargo test --verbose -p bevy_rapier${{ matrix.dim }}d
+  # Builds Bevy with its default features, so it gets a job of its own.
+  ambiguity-detection:
+    runs-on: ubuntu-latest
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: Swatinem/rust-cache@v2
+        with:
+          workspaces: bindings/bevy_rapier
+          save-if: ${{ github.ref == 'refs/heads/master' }}
       - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
-      - run: cargo install cargo-all-features
-      - name: Clippy for bevy_rapier2d
-        run: cargo clippy --verbose -p bevy_rapier2d --examples
-      - name: Clippy for bevy_rapier3d
-        run: cargo clippy --verbose -p bevy_rapier3d --examples
-      - name: Clippy for bevy_rapier2d (debug-render, simd, serde)
-        run: cargo clippy --verbose -p bevy_rapier2d --features debug-render-2d,simd8,serde-serialize,picking-backend
-      - name: Clippy for bevy_rapier3d (debug-render, simd, serde)
-        run: cargo clippy --verbose -p bevy_rapier3d --features debug-render-3d,simd8,serde-serialize,picking-backend
-      - name: Test for bevy_rapier2d
-        run: cargo test --verbose -p bevy_rapier2d
-      - name: Test for bevy_rapier3d
-        run: cargo test --verbose -p bevy_rapier3d
       - name: Test for no conflicting system order ambiguity
         run: cargo run --bin ambiguity_detection
+  # Each chunk checks a quarter of the (crate, feature set) pairs. The chunks share one cache,
+  # saved by the first one.
+  check-all-features:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        chunk: [1, 2, 3, 4]
+    env:
+      RUSTFLAGS: -D warnings
+    steps:
+      - uses: actions/checkout@v4
+      - uses: dtolnay/rust-toolchain@stable
+      - uses: taiki-e/install-action@v2
+        with:
+          tool: cargo-all-features
+      - uses: Swatinem/rust-cache@v2
+        with:
+          workspaces: bindings/bevy_rapier
+          shared-key: bevy-rapier-all-features
+          save-if: ${{ github.ref == 'refs/heads/master' && matrix.chunk == 1 }}
+      - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
       - name: Check all features individually
-        run: cargo check-all-features
+        run: cargo check-all-features --n-chunks 4 --chunk ${{ matrix.chunk }} --chunk-granularity feature
   test-wasm:
     runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        dim: [2, 3]
     env:
       RUSTFLAGS: -D warnings
     steps:
@@ -106,10 +162,10 @@ jobs:
       - uses: Swatinem/rust-cache@v2
         with:
           workspaces: bindings/bevy_rapier
-      - name: Clippy bevy_rapier2d
-        run: cd bevy_rapier2d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown
-      - name: Clippy bevy_rapier3d
-        run: cd bevy_rapier3d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown
+          key: wasm-${{ matrix.dim }}d
+          save-if: ${{ github.ref == 'refs/heads/master' }}
+      - name: Clippy
+        run: cd bevy_rapier${{ matrix.dim }}d && cargo clippy --verbose --features bevy/webgl2 --target wasm32-unknown-unknown
   dependencies:
     runs-on: ubuntu-latest
     steps:
@@ -118,25 +174,25 @@ jobs:
         uses: EmbarkStudios/cargo-deny-action@v2
         with:
           manifest-path: bindings/bevy_rapier/Cargo.toml
-  # Checks the Bevy documentation snippets compile against the in-tree bevy_rapier. Both
-  # snippet crates are standalone workspaces sharing one target directory.
+  # Checks the Bevy documentation snippets compile against the in-tree bevy_rapier. Each
+  # snippet crate is a standalone workspace.
   website-bevy-snippets:
     runs-on: ubuntu-latest
-    env:
-      CARGO_TARGET_DIR: ${{ github.workspace }}/website/docs-examples/target
+    strategy:
+      fail-fast: false
+      matrix:
+        dim: [2, 3]
     defaults:
       run:
-        working-directory: website/docs-examples
+        working-directory: website/docs-examples/${{ matrix.dim }}d/bevy
     steps:
       - uses: actions/checkout@v4
       - uses: dtolnay/rust-toolchain@stable
       - uses: Swatinem/rust-cache@v2
         with:
-          workspaces: |
-            website/docs-examples/2d/bevy -> ../../target
-            website/docs-examples/3d/bevy -> ../../target
+          workspaces: website/docs-examples/${{ matrix.dim }}d/bevy
+          key: snippets-${{ matrix.dim }}d
+          save-if: ${{ github.ref == 'refs/heads/master' }}
       - run: sudo apt update && sudo apt-get install pkg-config libx11-dev libasound2-dev libudev-dev libwayland-dev libxkbcommon-dev
-      - name: Check the 2D snippets
-        run: cd 2d/bevy && cargo check --examples
-      - name: Check the 3D snippets
-        run: cd 3d/bevy && cargo check --examples
+      - name: Check the snippets
+        run: cargo check --examples

CHANGELOG.md

@@ -1,45 +1,72 @@
-## Unreleased
+## v0.36.0 (24 September 2026)
 
 ### Added
 
-- `Multibody::remove_dof_coupling`, `Multibody::retain_dof_couplings` and
-  `Multibody::clear_dof_couplings` to remove DoF couplings.
-- `rapier3d-urdf`: `UrdfLink::urdf_link_index` and `UrdfJoint::urdf_joint_index` (and related) map the
-  loaded links and joints to their URDF counterparts, even when empty links are squeezed.
-- `rapier3d-mjcf`: `MjcfContactHooks::is_excluded` and `MjcfContactHooks::pair_override` to query the
-  contact rules of a model.
+- 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`, and
-  build against the in-tree rapier crates.
+- 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
 
-- `CollisionPipeline::step` no longer trips a debug assertion when a moving body touches another
-  collider.
-- A zero-length step no longer corrupts the simulation: it only applies the user changes and runs
-  the collision detection.
+- 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 and disabled self-contacts are no longer lost when multibodies merge or split.
-- `PhysicsPipeline::counters` now fills the contact pair, contact, and constraint counts.
-- `rapier3d-urdf`: the fixed children of a squeezed empty link now stay rigidly attached together, and
-  the joint taking over the removed link's joint keeps its original pivot.
-- 2D soft-body cluster proxies now follow counterclockwise rotations of their particles.
-- The rigid colliders attached to soft-body cluster proxies no longer lag one step behind their proxy.
-- The broad-phase AABBs of soft-body surfaces now match their end-of-step geometry.
-- When the CCD splits a step, the end-of-step soft-body motion margin and soft-CCD AABBs now cover the
-  full next step instead of the last CCD pass.
-- The CCD now also splits the first step of a fast body at its impact.
-- The soft-body contact history driving the extra substeps now counts steps instead of CCD passes.
-- The CCD fast-body check now divides the applied forces by the body's mass, so heavy bodies under
-  gravity are no longer flagged as fast.
-
-### Modified
-
-- The soft-body motion margin now only pads deformable colliders, not the rigid colliders of clusters.
-- `RigidBodyCcd::is_moving_fast` now takes the mass-properties along with the forces.
+- 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.
 
 ## v0.35.3 (28 August 2026)
 

Cargo.toml

@@ -52,7 +52,7 @@ exclude = ["bindings/typescript", "bindings/bevy_rapier"]
 resolver = "2"
 
 [workspace.package]
-version = "0.35.3"
+version = "0.36.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
@@ -131,18 +131,18 @@ getrandom = { version = "0.2", features = ["js"] }
 wasm-bindgen = "0.2"
 
 # Internal crates (paths are relative to the workspace root)
-rapier2d = { version = "0.35.2", path = "crates/rapier2d" }
-rapier2d-f64 = { version = "0.35.2", path = "crates/rapier2d-f64" }
-rapier3d = { version = "0.35.2", path = "crates/rapier3d" }
-rapier3d-f64 = { version = "0.35.2", path = "crates/rapier3d-f64" }
-rapier_testbed2d = { version = "0.35.2", path = "crates/rapier_testbed2d" }
-rapier_testbed2d-f64 = { version = "0.35.2", path = "crates/rapier_testbed2d-f64" }
-rapier_testbed3d = { version = "0.35.2", path = "crates/rapier_testbed3d" }
-rapier_testbed3d-f64 = { version = "0.35.2", path = "crates/rapier_testbed3d-f64" }
-rapier3d-urdf = { version = "0.35.2", path = "crates/rapier3d-urdf" }
-rapier3d-meshloader = { version = "0.35.2", path = "crates/rapier3d-meshloader", default-features = false }
-mjcf-rs = { version = "0.35.2", path = "crates/mjcf-rs" }
-rapier3d-mjcf = { version = "0.35.2", path = "crates/rapier3d-mjcf" }
+rapier2d = { version = "0.36.0", path = "crates/rapier2d" }
+rapier2d-f64 = { version = "0.36.0", path = "crates/rapier2d-f64" }
+rapier3d = { version = "0.36.0", path = "crates/rapier3d" }
+rapier3d-f64 = { version = "0.36.0", path = "crates/rapier3d-f64" }
+rapier_testbed2d = { version = "0.36.0", path = "crates/rapier_testbed2d" }
+rapier_testbed2d-f64 = { version = "0.36.0", path = "crates/rapier_testbed2d-f64" }
+rapier_testbed3d = { version = "0.36.0", path = "crates/rapier_testbed3d" }
+rapier_testbed3d-f64 = { version = "0.36.0", path = "crates/rapier_testbed3d-f64" }
+rapier3d-urdf = { version = "0.36.0", path = "crates/rapier3d-urdf" }
+rapier3d-meshloader = { version = "0.36.0", path = "crates/rapier3d-meshloader", default-features = false }
+mjcf-rs = { version = "0.36.0", path = "crates/mjcf-rs" }
+rapier3d-mjcf = { version = "0.36.0", path = "crates/rapier3d-mjcf" }
 
 # Dev
 bincode = "1"

bindings/bevy_rapier/Cargo.toml

@@ -4,11 +4,11 @@ resolver = "2"
 
 [workspace.dependencies]
 # Build against the rapier crates of this repository so bevy_rapier always tracks the in-tree engine.
-rapier2d = { version = "0.35.3", path = "../../crates/rapier2d" }
-rapier3d = { version = "0.35.3", path = "../../crates/rapier3d" }
-rapier3d-urdf = { version = "0.35.3", path = "../../crates/rapier3d-urdf" }
-rapier3d-mjcf = { version = "0.35.3", path = "../../crates/rapier3d-mjcf" }
-rapier3d-meshloader = { version = "0.35.3", path = "../../crates/rapier3d-meshloader", default-features = false }
+rapier2d = { version = "0.36.0", path = "../../crates/rapier2d" }
+rapier3d = { version = "0.36.0", path = "../../crates/rapier3d" }
+rapier3d-urdf = { version = "0.36.0", path = "../../crates/rapier3d-urdf" }
+rapier3d-mjcf = { version = "0.36.0", path = "../../crates/rapier3d-mjcf" }
+rapier3d-meshloader = { version = "0.36.0", path = "../../crates/rapier3d-meshloader", default-features = false }
 
 [profile.dev]
 # Use slightly better optimization by default, as examples otherwise seem laggy.

bindings/c/VERSION

@@ -1 +1 @@
-0.35.3+c.2
+0.36.0+c.0