Release v0.31.0

[sebcrozet]

0.31.0

Modified

• Query results now identify the sub-shape they came from, through the new SubShapeId type alias:
  RayIntersection and PointProjection gained a subshape field, and Contact and ShapeCastHit
  gained subshape1/subshape2. A shape with no sub-shapes reports 0
  (#443).
• QueryDispatcher::distance and QueryDispatcher::intersection_test, and the distance and
  intersection_test free functions, now return ShapeDistance and ShapeIntersection instead
  of a bare Real and bool, so they can report the sub-shapes too. Read .distance or
  .intersecting to recover the previous value (#443).
• Query results now report the feature of the sub-shape they hit rather than one encoding that
  sub-shape's index: a TriMesh ray-cast reports the triangle's own face, and the triangle itself
  is the result's subshape. TriMesh::triangle_normal and HeightField::convert_triangle_feature_id
  take that sub-shape index directly, and TriMesh::is_backface tests the triangle's own face
  (#443).
• Shape::as_composite_shape now returns Option<&(dyn CompositeShape + Sync)>, so composite-vs-shape
  contact manifolds can be computed across threads under the parallel feature
  (#447).
• Ray-casts against a Capsule now use an analytic intersection test instead of GJK: faster, and
  accurate for rays starting far from the capsule (#446).
• Bump num-derive to 0.5, and ptree to 0.5 and kiss3d (visual examples) to 0.46 for the
  dev-dependencies.

Added

• CompoundFlags::FIX_INTERNAL_EDGES makes a Compound treat the edges (2D) or faces (3D) its parts share as
  interior to the union, so a body sliding across the cut between two parts of a convex
  decomposition no longer catches on it. Compound::PartNormalConstraints is now
  CompoundPseudoNormals, matching what TriMesh and Polyline already provide
  (#442).
• Deformable meshes: TriMeshFlags::DEFORMABLE and PolylineFlags::DEFORMABLE mark a shape whose
  vertices move while its pose stays fixed. Move them with the new TriMesh::set_vertices /
  Polyline::set_vertices (or update_vertices for in-place edits), which refit the BVH and
  recompute the pseudo-normals; the contact-manifold queries then recompute contacts instead of
  reusing the cached ones. Also adds CompositeShape::is_deformable and
  ContactManifold::mark_shapes_deformed (#447).
• transformation::volume_mesh fills a closed boundary with a simplex mesh for FEM simulation:
  a refined constrained Delaunay triangulation in 2D, a lattice cover (optionally smoothed and
  subdivided, or restricted to the surface's crust) in 3D. See VolumeMesh,
  VolumeMeshParameters and MeshEnclosure (#447).
• TriMeshFlags::FIX_INTERNAL_EDGES_TWO_SIDED fixes internal edges on a mesh used as a two-sided
  surface, keeping back-facing contact normals in the mirrored pseudo-normal cone instead of
  discarding them (#447).
• Polyline::pseudo_normals exposes the per-vertex outward pseudo-normals (2D)
  (#447).