17.3.0

• Bugfix: getPhysicsRotationDp() returns wrong rotation for a soft body
• Overrode the equals() and hashCode() methods of the Matrix3d class.
• Added 6 double-precision accessors for physics objects:
  • MultiBodyCollider.setPhysicsRotationDp()
  • PhysicsCollisionObject.getPhysicsRotationMatrixDp()
  • PhysicsGhostObject.setPhysicsRotationDp(Matrix3d)
  • PhysicsRigidBody.setPhysicsRotationDp(Matrix3d)
  • RigidBodyMotionState.getOrientationMatrixDp()
  • RigidBodyMotionState.getOrientationQuaternionDp()
• Added 4 new math methods:
  • Matrix3d.isIdentity()
  • Quatd.isRotationIdentity()
  • Quatd.isZero()
  • Validate.nonZero(Quatd)
• Dramatically simplified the jmeBulletUtil native class.
• Integrated bulletphysics/bullet3#4284

17.2.0

• Added 4 double-precision accessors for physics objects:
  • CollisionSpace.rayTestDp()
  • ManifoldPoints.getPositionWorldOnADp()
  • ManifoldPoints.getPositionWorldOnBDp()
  • PhysicsGhostObject.setPhysicsRotationDp()
• Added the Matrix3d math class.
• Added the mult(Quatd, Quatd) and toRotationMatrix() methods to the Quatd class.
• Added the combineWithParent() and transformInverseVector() methods to the TransformDp class.
• Added the divideLocal() method to the Vec3d class.

17.1.0

• Bugfix: getPhysicsLocationDp() returns wrong location for a soft body
• Added 8 double-precision accessors for physics objects:
  • CharacterController.warpDp()
  • CollisionShape.getScaleDp()
  • MultiBodyCollider.setPhysicsLocationDp()
  • PhysicsCharacter.setPhysicsLocationDp()
  • PhysicsCollisionObject.getTransformDp()
  • PhysicsGhostObject.setPhysicsLocationDp()
  • PhysicsSoftBody.setPhysicsLocationDp()
  • RigidBodyMotionState.getLocationDp()
• Added the TransformDp math class.
• Added the isFiniteDouble() and isFinite(Vec3d) methods to the MyMath class.
• Added the finite(Vec3d, String) method to the Validate class.

17.0.0 - CCD with static bodies made optional

• Renamed the public logger in ConvexShape. (API change)
• Renamed 2 protected fields in RigidBodySnapshot. (API changes)
• Protected 5 no-arg constructors. (API changes)
• Qualified 6 public classes as final. (API changes)
• Privatized 27 protected fields in RigidBodySnapshot.
• Added 3 new methods:
  • NativeLibrary.countClampedMotions()
  • PhysicsSpace.isCcdWithStaticOnly()
  • PhysicsSpace.setCcdWithStaticOnly()
• Upgraded Node.js to v18.12.1

16.3.0

• Bugfix: shape's scale isn't copied in HullCollisionShape.split()
• Bugfix: shape's scale is ignored by ChildCollisionShape.split()
• Bugfix: MeshCollisionShape.split() doesn't preserve scaling
• Bugfix: GImpactCollisionShape.split() doesn't preserve scaling
• Added the Generator class for randomization.
• Added a 4-sphere constructor to the MultiSphere class.
• Added 4 more math methods:
  • MyMath.fromAngles()
  • MyMath.isBetween()
  • MyMath.max()
  • RectangularSolid.halfExtents()
• Added the root2 constant to the MyMath class.

16.2.1 - collision-shape splitting

• Bugfix: assertion failure in VHACDHull after a failed decomposition

• Added the pairTest() method to the CollisionSpace class.

• Implemented collision-shape splitting:

  • Added split() methods to 7 classes:
    • ChildCollisionShape
    • CompoundCollisionShape
    • CompoundMesh
    • GImpactCollisionShape
    • HullCollisionShape
    • IndexedMesh
    • MeshCollisionShape
  • Added the canSplit() and toSplittableShape() methods to the CollisionShape class.
  • Added some constructors to 5 classes:
    • CompoundMesh
    • GImpactCollisionShape
    • HullCollisionShape
    • IndexedMesh
    • MeshCollisionShape
  • Added the toHullShape() method to the ConvexShape class.

• Implemented center/volume estimation for collision shapes:

  • Added the aabbCenter() and scaledVolume() methods to the CollisionShape class.
  • Added the maxMin() method to the CompoundMesh class.
  • Added volumeConvex() methods to the DebugMeshCallback and DebugShapeFactory classes.
  • Added the copyTriangle() and maxMin() methods to the IndexedMesh class.

• Added math classes:

  • DistinctVectorValues
  • MyVolume
  • RectangularSolid
  • Triangle
  • VectorSetUsingBuffer

• Added math methods:

  • MyBuffer.covariance()
  • MyBuffer.maxMin()
  • MyBuffer.mean()
  • MyMath.cube()
  • MyMath.mid(float, float, float)
  • MyMath.min(float...)
  • MyMath.modulo(int, int)
  • MyMath.transformInverse() for a Triangle
  • the normal-and-displacement constructor for a Plane
  • Plane.pseudoDistance()
  • Vector3f.crossLocal()
  • Vector3f.distance()
  • Vector3f.mult(float, Vector3f)
  • Vector3f.mult(Vector3f)

• Added the FastMath.QUARTER_PI constant.

• Added the VectorSet interface.

• Added supplemental V-HACD methods:

  • VHACDParameters.toMap()
  • Vhacd4Parameters.nextFillMode()
  • Vhacd4Parameters.toMap()

• Updated the Bullet sourcecode to match SHA1 ID=dad061fc1 of the bullet3 project.

16.1.0 - V-HACD v4

• Bugfix: I/O resources not safely closed in VHACDParameters.
• Added V-HACD v4 without removing the classic version:
  • Added the Vhacd4, Vhacd4Hull, and Vhacd4Parameters classes.
  • Added the FillMode enum.
  • Added a new constructor for HullCollisionShape.
• Added the setIgnoreList() method to the PhysicsCollisionObject class.
• Added a simpler constructor to PhysicsSoftSpace.
• Overrode the toString() method of VHACDParameters.
• Publicized the rebuildRigidBody() method of the PhysicsRigidBody class.
• Created per-class loggers for SoftBodyMaterial and SoftBodyWorldInfo.
• Upgraded the GCC compilers used to build Linux natives:
  • Linux32 and Linux64 non-multithreaded, from v4.7.3 to v7.5.0
  • Linux_ARM32hf and Linux_ARM64, from v5.4.0 to v6.5.0
  • Linux64 multithreaded and Linux_ARM32 with software floating-point, from v5.4.0 to v7.5.0

16.0.0

• Qualified 13 utility classes as final. (API changes)
• Protected 2 constructors of SoftPhysicsJoint. (API changes)
• Bugfix: PhysicsRigidBody.setInverseInertiaLocal() and PhysicsRigidBody.updateMassProps() don't update the world inertia tensor
• Bugfix: static rigid body isn't rebuilt when assigned a positive mass
• Bugfix: when rebuilding a rigid body, its ignore list is lost
• De-privatized the setIgnoreCollisionCheck() method in PhysicsCollisionObject.

15.2.1

• Bugfix: values of 3 ConfigFlag constants are out-of-date
• Bugfix: Android native libraries are missing an object file
• Bugfix: ConfigFlag.describe() ignores 3 flags
• Added the DeformableSpace, MyShape, and ReducedDeformableBody classes.
• Added constants SDF_MDF and SDF_RDN to the ConfigFlag class.
• Added the tan() method to the FastMath class.
• Added the isOdd() method to the MyMath class.
• Added the removeSuffix() method to the MyString class.
• Added a warning when the native library version is unexpected.
• Updated the Bullet sourcecode to match SHA1 ID=a1d96646 of the bullet3 project.

15.1.0 - configure deactivation globally

• Added accessors for global deactivation settings:
  • PhysicsBody.getDeactivationDeadline()
  • PhysicsBody.isDeactivationEnabled()
  • PhysicsBody.setDeactivationDeadline()
  • PhysicsBody.setDeactivationEnabled()
• Added public setters for constraint pivots:
  • New6Dof.setPivotInA()
  • New6Dof.setPivotInB()