Release v0.33.0

.github/workflows/rapier-ci-build.yml

@@ -146,8 +146,11 @@ jobs:
       RUSTFLAGS: -D warnings
     steps:
       - uses: actions/checkout@v4
+      - run: sudo apt-get install -y cmake libxcb-composite0-dev
+      # Builds and verifies each crate the same way `cargo publish` does,
+      # catching bugs hidden by workspace feature unification.
       - name: publish dry-run
-        run: ./publish-all.sh
+        run: ./publish.sh --dry-run
   # Builds the docusaurus website (user guides + docs site).
   website-build:
     runs-on: ubuntu-latest

CHANGELOG.md

@@ -1,7 +1,15 @@
-## Unreleased
+## 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](https://github.com/dimforge/rapier/pull/936), [#943](https://github.com/dimforge/rapier/pull/943)).
+- Python bindings for Rapier 2D/3D (`rapier-py-*` crates under `python/`), generated and published
+  as installable wheels ([#938](https://github.com/dimforge/rapier/pull/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`,
@@ -42,6 +50,8 @@
 
 ### 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.

Cargo.toml

@@ -46,7 +46,7 @@ default-members = [
 resolver = "2"
 
 [workspace.package]
-version = "0.32.0"
+version = "0.33.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"

README.md

@@ -63,15 +63,15 @@ AI coding is extensively used for the implementation and maintenance of the foll
 `rapier3d-mjcf`, as well as the Python bindings (`python/rapier-py*`), including their tests, examples, and docs.
 
 We actively use AI assistance (with human reviews) for the following tasks:
-    - Documentation generation.
-    - Changelogs generation.
-    - Tests generation.
-    - CI configuration and scripts.
+- Documentation generation.
+- Changelogs generation.
+- Tests generation.
+- CI configuration and scripts.
 
 We accept contributions involving AI coding as long as:
-    - They are verified to work properly by a human.
-    - The code quality is up to human-written code standards.
-    - Include non-regression tests whenever applicable (which itself can be AI-generated).
+- They are verified to work properly by a human.
+- The code quality is up to human-written code standards.
+- Include non-regression tests whenever applicable (which itself can be AI-generated).
 
 ## Resources and discussions
 

crates/rapier3d-meshloader/Cargo.toml

@@ -1,11 +1,11 @@
 [package]
 name = "rapier3d-meshloader"
-version = "0.13.0"
+version.workspace = true
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "STL file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-meshloader"
-homepage = "https://rapier.rs"
-repository = "https://github.com/dimforge/rapier"
+homepage.workspace = true
+repository.workspace = true
 readme = "README.md"
 categories = [
     "science",
@@ -15,8 +15,8 @@ categories = [
     "wasm",
 ]
 keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
-license = "Apache-2.0"
-edition = "2024"
+license.workspace = true
+edition.workspace = true
 
 [features]
 default = ["stl", "collada", "wavefront"]
@@ -29,4 +29,4 @@ thiserror = "2"
 profiling = "1.0"
 mesh-loader = "0.1.13"
 
-rapier3d = { version = "0.32.0", path = "../rapier3d" }
+rapier3d = { version = "0.33.0", path = "../rapier3d" }

crates/rapier3d-mjcf/Cargo.toml

@@ -1,11 +1,11 @@
 [package]
 name = "rapier3d-mjcf"
-version = "0.1.0"
+version.workspace = true
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "MuJoCo MJCF loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-mjcf"
-homepage = "https://rapier.rs"
-repository = "https://github.com/dimforge/rapier"
+homepage.workspace = true
+repository.workspace = true
 readme = "README.md"
 categories = [
     "science",
@@ -15,8 +15,8 @@ categories = [
     "wasm",
 ]
 keywords = ["physics", "joints", "multibody", "robotics", "mjcf"]
-license = "Apache-2.0"
-edition = "2024"
+license.workspace = true
+edition.workspace = true
 
 [features]
 default = []
@@ -34,8 +34,8 @@ anyhow = "1"
 bitflags = "2"
 
 mjcf-rs = { version = "0.1.0", path = "../mjcf-rs" }
-rapier3d = { version = "0.32.0", path = "../rapier3d" }
-rapier3d-meshloader = { version = "0.13.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
+rapier3d = { version = "0.33.0", path = "../rapier3d" }
+rapier3d-meshloader = { version = "0.33.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
 
 [dev-dependencies]
 tempfile = "3"

crates/rapier3d-urdf/Cargo.toml

@@ -1,11 +1,11 @@
 [package]
 name = "rapier3d-urdf"
-version = "0.13.0"
+version.workspace = true
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "URDF file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-urdf"
-homepage = "https://rapier.rs"
-repository = "https://github.com/dimforge/rapier"
+homepage.workspace = true
+repository.workspace = true
 readme = "README.md"
 categories = [
     "science",
@@ -15,8 +15,8 @@ categories = [
     "wasm",
 ]
 keywords = ["physics", "joints", "multibody", "robotics", "urdf"]
-license = "Apache-2.0"
-edition = "2024"
+license.workspace = true
+edition.workspace = true
 
 [features]
 stl = ["dep:rapier3d-meshloader", "rapier3d-meshloader/stl", "__meshloader_is_enabled"]
@@ -31,5 +31,5 @@ anyhow = "1"
 bitflags = "2"
 urdf-rs = "0.9"
 
-rapier3d = { version = "0.32.0", path = "../rapier3d" }
-rapier3d-meshloader = { version = "0.13.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
+rapier3d = { version = "0.33.0", path = "../rapier3d" }
+rapier3d-meshloader = { version = "0.33.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

crates/rapier_testbed2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d-f64"
-version = "0.32.0"
+version = "0.33.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -67,5 +67,5 @@ env_logger = "0.11"
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.32.0"
+version = "0.33.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d"
-version = "0.32.0"
+version = "0.33.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -67,5 +67,5 @@ env_logger = "0.11"
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.32.0"
+version = "0.33.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d-f64"
-version = "0.32.0"
+version = "0.33.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -68,5 +68,5 @@ env_logger = "0.11"
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.32.0"
+version = "0.33.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d"
-version = "0.32.0"
+version = "0.33.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -69,5 +69,5 @@ env_logger = "0.11"
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.32.0"
+version = "0.33.0"
 features = ["serde-serialize", "debug-render", "profiler"]

examples2d/Cargo.toml

@@ -4,6 +4,7 @@ version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 edition = "2024"
 default-run = "all_examples2"
+publish = false
 
 [features]
 parallel = ["rapier2d/parallel", "rapier_testbed2d/parallel"]

examples3d-f64/Cargo.toml

@@ -4,6 +4,7 @@ version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 edition = "2024"
 default-run = "all_examples3-f64"
+publish = false
 
 [features]
 parallel = ["rapier3d-f64/parallel", "rapier_testbed3d-f64/parallel"]

examples3d/Cargo.toml

@@ -4,6 +4,7 @@ version = "0.1.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 edition = "2024"
 default-run = "all_examples3"
+publish = false
 
 [features]
 parallel = ["rapier3d/parallel", "rapier_testbed3d/parallel"]

publish.sh

@@ -0,0 +1,97 @@
+#! /bin/bash
+#
+# Publishes every rapier crate to crates.io with a single
+# `cargo publish --workspace` invocation:
+#
+#   - rapier2d / rapier3d / rapier2d-f64 / rapier3d-f64
+#   - rapier_testbed2d / rapier_testbed3d / rapier_testbed2d-f64 / rapier_testbed3d-f64
+#   - rapier3d-meshloader / rapier3d-urdf / mjcf-rs / rapier3d-mjcf
+#
+# Cargo computes the dependency order itself and waits for each crate to become
+# available on the registry before publishing the ones that depend on it. The
+# example crates and the python-binding crates are marked `publish = false`, so
+# `--workspace` skips them.
+#
+# Why this script exists
+# ----------------------
+# The four main crates share a single source tree at `<repo>/src`, referenced
+# from each manifest as `path = "../../src/lib.rs"`. The four testbed crates
+# likewise share `<repo>/src_testbed` via `path = "../../src_testbed/lib.rs"`.
+# Those paths point outside the crate directory, which `cargo publish` refuses
+# to package.
+#
+# To work around it *only during publishing*, this script temporarily, for each
+# affected crate:
+#   1. rewrites the `[lib] path` to a crate-local one (e.g. `src/lib.rs`), and
+#   2. creates a symlink inside the crate pointing at the shared source tree.
+#
+# Cargo follows the symlink and bundles the real source into each `.crate`. A
+# trap restores the manifests and removes the symlinks on exit (including on
+# error or Ctrl-C), leaving the tree exactly as it was.
+#
+# Extra arguments are forwarded to `cargo publish`, e.g.:
+#   ./publish.sh --dry-run
+#   ./publish.sh --token "$CARGO_TOKEN"
+#
+# Requires cargo >= 1.90 (for `cargo publish --workspace`).
+
+set -euo pipefail
+
+ROOT="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
+cd "$ROOT"
+
+# Crates sharing `src/lib.rs`.
+SRC_CRATES=(rapier2d rapier3d rapier2d-f64 rapier3d-f64)
+# Crates sharing `src_testbed/lib.rs`.
+TESTBED_CRATES=(rapier_testbed2d rapier_testbed3d rapier_testbed2d-f64 rapier_testbed3d-f64)
+
+# Refuse to run on a dirty tree: the only diff during publishing must be our own
+# temporary edits, so the restore at the end is guaranteed to be correct.
+if [ -n "$(git status --porcelain)" ]; then
+    echo "error: working tree is not clean. Commit or stash changes before publishing." >&2
+    exit 1
+fi
+
+backup_dir="$(mktemp -d)"
+
+cleanup() {
+    for crate in "${SRC_CRATES[@]}" "${TESTBED_CRATES[@]}"; do
+        # Remove the symlink we created (only if it is in fact a symlink).
+        for link in "crates/$crate/src" "crates/$crate/src_testbed"; do
+            [ -L "$link" ] && rm -f "$link"
+        done
+        # Restore the original manifest.
+        if [ -f "$backup_dir/$crate.Cargo.toml" ]; then
+            cp "$backup_dir/$crate.Cargo.toml" "crates/$crate/Cargo.toml"
+        fi
+    done
+    rm -rf "$backup_dir"
+}
+trap cleanup EXIT INT TERM
+
+# Apply the temporary symlink layout: `shared_dir` lives at the repo root and is
+# linked into each crate, while the manifest's `[lib] path` is made crate-local.
+link_shared() {
+    local crate="$1" shared_dir="$2"
+    local manifest="crates/$crate/Cargo.toml"
+
+    cp "$manifest" "$backup_dir/$crate.Cargo.toml"
+
+    local tmp
+    tmp="$(mktemp)"
+    sed "s#path = \"\.\./\.\./$shared_dir/lib.rs\"#path = \"$shared_dir/lib.rs\"#" "$manifest" > "$tmp"
+    mv "$tmp" "$manifest"
+
+    ln -s "../../$shared_dir" "crates/$crate/$shared_dir"
+}
+
+for crate in "${SRC_CRATES[@]}"; do
+    link_shared "$crate" src
+done
+for crate in "${TESTBED_CRATES[@]}"; do
+    link_shared "$crate" src_testbed
+done
+
+# Publish the whole workspace. `--allow-dirty` is required because our temporary
+# edits make the tree dirty; the clean-tree check above keeps that safe.
+cargo publish --workspace --allow-dirty "$@"

python/rapier-testbed/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
 
 [project]
 name = "rapier-testbed"
-version = "0.32.0"
+version = "0.33.0"
 description = "Panda3D-based visual testbed and example gallery for the Rapier Python bindings."
 readme = "README.md"
 license = { text = "Apache-2.0" }