Release v0.33.0

[sebcrozet]

v0.33.0 (05 June 2026)

Added

• New mjcf-rs and rapier3d-mjcf crates: a pure-Rust (no libmujoco/FFI) loader for the MuJoCo
  MJCF XML format. mjcf-rs parses MJCF into a typed AST — resolving <include>, <default>
  class inheritance, angle units, and the several rotation specs (quat, axisangle, euler,
  xyaxes, zaxis) — and rapier3d-mjcf converts a model into rigid-bodies, colliders, and
  joints via MjcfRobot. Meshes load behind the stl/wavefront/msh features, and visual
  meshes support per-vertex normals with optional smoothing (#936, #943).
• Python bindings for Rapier 2D/3D (rapier-py-* crates under python/), generated and published
  as installable wheels (#938).
• New PhysicsWorld convenience wrapper bundling RigidBodySet, ColliderSet, the broad/narrow
  phases, islands, joints, the CCD solver, gravity, and integration parameters in a single struct,
  for simpler setup of basic simulations. It also exposes helpers for waking bodies (wake_up,
  wake_up_all), iterating only active bodies (active_bodies), and iterating joints — including
  those attached to a given body (impulse_joints, impulse_joints_with, multibody_joints,
  multibody_joints_with).
• std/alloc feature gating: no_std builds are now supported, and a subset of the library
  compiles without alloc as well (e.g. for spirv targets) (#928).
• InteractionGroups and Group now derive bytemuck::NoUninit under the bytemuck feature,
  and InteractionTestMode is #[repr(u32)], making them GPU-uploadable.
• MultibodyJoint::joint_rot() and MultibodyJoint::coords() expose the joint’s rotation and
  generalized coordinates publicly.
• ImpulseJointSet::set_bodies rewires an existing impulse joint to a new pair of bodies while
  preserving its handle, configuration, and warm-started impulses.
• rapier3d-urdf:
  • New UrdfLoaderOptions::mesh_converter lets the loader replace the original mesh with a
    cheap proxy shape (e.g. MeshConverter::Obb) while keeping the source mesh available for
    rendering via the new UrdfCollider::visual / UrdfVisual types.
  • New UrdfLoaderOptions::scale applies a uniform scale to link positions, joint anchors,
    mesh sizes, primitive shape sizes, inertial offsets, and prismatic joint limits.
  • New UrdfLoaderOptions::squeeze_empty_fixed_links (default true) removes empty links
    connected by fixed joints, splicing the kinematic chain so bodyless “frame-only” links
    (e.g. world, *_tcp) no longer create mass-less rigid-bodies.
  • URDF files with empty <geometry></geometry> blocks are now accepted (sanitized before
    parsing, then skipped when building colliders).
  • The urdf_rs crate is re-exported.

Fixed

• QueryPipeline::project_point now honors its max_dist argument (it was previously ignored).
• Several multibody-related crashes (#906, #907, #908, #927).
• Continuous Collision Detection now consults the user's PhysicsHooks::filter_contact_pair
  hook, matching narrow-phase semantics. Previously, CCD would clamp a fast-moving body's
  motion at a predicted impact with a pair the user had filtered out (#929, closes #754).
• Corrected the documentation of RigidBody::add_force / add_torque / reset_forces /
  reset_torques: user-defined forces and torques are not cleared automatically between
  steps and persist until explicitly reset (#903).

Modified

• Unify version numbers for rapier3d-urdf, rapier3d-meshloader, and rapier3d-mjcf so they
  follow the same versioning as the other libraries in the workspace.
• Breaking (CCD solver direct callers only): CCDSolver::find_first_impact and
  CCDSolver::predict_impacts_at_next_positions now take an extra hooks: &dyn PhysicsHooks
  argument. PhysicsPipeline::step callers are unaffected.
• Breaking: QueryPipeline::project_point_and_get_feature now takes an additional
  max_dist: Real argument.
• Breaking (rapier3d-urdf): UrdfLink::colliders and UrdfLinkHandle::colliders changed
  from Vec<Collider> / Vec<ColliderHandle> to Vec<UrdfCollider> / Vec<UrdfColliderHandle>
  to carry the optional visual mesh override.
• Behavior change (rapier3d-urdf): with squeeze_empty_fixed_links defaulting to true,
  empty links bridged by fixed joints are now collapsed by default. Set it to false to keep
  the previous behavior.
• Update glamx to 0.3.
• Updated wide version to 1 (#902).