feat: add support for soft-bodies

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

@@ -310,18 +310,34 @@ jobs:
           workspaces: website/docs-examples
       - name: Tests injection + code snippets
         run: cd website/docs-examples && cargo test
-  # Checks the JavaScript documentation snippets build (against the published @dimforge/rapier).
+  # Checks the JavaScript documentation snippets build against the in-tree bindings, so a
+  # snippet may use an API before it is released on npm. The snippet package depends on
+  # `typescript/builds/rapier{2,3}d/pkg` through a `file:` path, which this job builds first
+  # (the same two steps a local checkout runs).
   website-javascript-snippets:
     runs-on: ubuntu-latest
     strategy:
       matrix:
         dimension: [2d, 3d]
-    defaults:
-      run:
-        working-directory: ./website/docs-examples/${{ matrix.dimension }}/javascript
     steps:
       - uses: actions/checkout@v4
+      - uses: Swatinem/rust-cache@v2
+        with:
+          workspaces: typescript
+      - name: Generate the binding crates
+        working-directory: ./typescript
+        run: |
+          npm ci
+          cargo run -p prepare_builds -- -d dim${{ matrix.dimension == '2d' && '2' || '3' }} -f non-deterministic
+      - name: Build the in-tree bindings
+        working-directory: ./typescript/builds/rapier${{ matrix.dimension }}
+        run: |
+          npm i
+          npm run build:wasm
+          npm run build:ts
       - name: Install dependencies
+        working-directory: ./website/docs-examples/${{ matrix.dimension }}/javascript
         run: npm ci
       - name: Builds javascript snippets.
+        working-directory: ./website/docs-examples/${{ matrix.dimension }}/javascript
         run: npm run build

.typos.toml

@@ -16,6 +16,8 @@ ignore-hidden = false
 [default]
 extend-ignore-re = [
     "\\bPolygon::PN\\b",
+    # Index notation in the strain-constraint docs: `m_ba`, `ε_ba` (the b,a entry).
+    "_ba\\b",
 ]
 
 # Case sensitive, matches entire word.

Cargo.toml

@@ -66,16 +66,16 @@ needless_lifetimes = "allow"
 [workspace.dependencies]
 # Core math
 nalgebra = { version = "0.35", default-features = false, features = ["macros"] }
-glamx = { version = "0.3", default-features = false }
+glamx = { version = "0.3.1", default-features = false }
 simba = { version = "0.10.2", default-features = false }
 num-traits = { version = "0.2", default-features = false }
 approx = { version = "0.5", default-features = false }
 
 # Parry (each crate picks its own variant)
-parry2d = { version = "0.30.2", default-features = false, features = ["required-features"] }
-parry3d = { version = "0.30.2", default-features = false, features = ["required-features"] }
-parry2d-f64 = { version = "0.30.2", default-features = false, features = ["required-features"] }
-parry3d-f64 = { version = "0.30.2", default-features = false, features = ["required-features"] }
+parry2d = { version = "0.31.1", default-features = false, features = ["required-features"] }
+parry3d = { version = "0.31.1", default-features = false, features = ["required-features"] }
+parry2d-f64 = { version = "0.31.1", default-features = false, features = ["required-features"] }
+parry3d-f64 = { version = "0.31.1", default-features = false, features = ["required-features"] }
 
 # Utilities
 arrayvec = { version = "0.7", default-features = false }
@@ -159,10 +159,11 @@ tempfile = "3"
 
 #kiss3d = { git = "https://github.com/sebcrozet/kiss3d", branch = "render-2d" }
 #nalgebra = { git = "https://github.com/dimforge/nalgebra", branch = "dev" }
-#parry2d = { git = "https://github.com/dimforge/parry", branch = "master" }
-#parry3d = { git = "https://github.com/dimforge/parry", branch = "master" }
-#parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
-#parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "master" }
+#glamx = { git = "https://github.com/dimforge/glamx", branch = "fix-lerp2" }
+#parry2d = { git = "https://github.com/dimforge/parry", branch = "soft-bodies" }
+#parry3d = { git = "https://github.com/dimforge/parry", branch = "soft-bodies" }
+#parry2d-f64 = { git = "https://github.com/dimforge/parry", branch = "soft-bodies" }
+#parry3d-f64 = { git = "https://github.com/dimforge/parry", branch = "soft-bodies" }
 
 # See https://github.com/EmbarkStudios/puffin/pull/234
 puffin_egui = { git = "https://github.com/tedsteen/puffin.git", rev = "11771ebe00fd257aedbb545df3339ad597b1cc34" }

crates/rapier2d-f64/Cargo.toml

@@ -40,13 +40,23 @@ alloc = [
 std = [
     "alloc",
     "parry2d-f64/std",
+    # Needed by `SoftBodyBuilder::volumetric`, for the Delaunay refinement. Kept out of
+    # `alloc`: spade's `robust` dependency does not build without the standard library.
+    "parry2d-f64/spade",
     "nalgebra/std",
     "simba/std",
     "num-traits/std",
     "approx/std",
     "thiserror/std",
     "serde?/std",
 ]
+# Adds an alternative FEM solver for soft bodies, selected per body with
+# `SoftBodyBuilder::solver(SoftBodySolver::Fem)`. Instead of resolving elasticity
+# as sequential impulse rows, the FEM path assembles the element forces and
+# tangent stiffness of a strain-energy density and takes one implicit Euler step
+# per substep, solving `(M + h D + h^2 K) dv = b` over the whole body. Off by
+# default: it adds per-body solver state and is still experimental.
+fem = []
 parallel = ["dep:rayon", "std", "parry2d-f64/parallel"]
 # Drops the `Sync` requirement from callbacks (`PhysicsHooks`, `EventHandler`).
 # As a side effect, this also removes the dedicated threadpool API from the physics world

crates/rapier2d/Cargo.toml

@@ -40,6 +40,9 @@ alloc = [
 std = [
     "alloc",
     "parry2d/std",
+    # Needed by `SoftBodyBuilder::volumetric`, for the Delaunay refinement. Kept out of
+    # `alloc`: spade's `robust` dependency does not build without the standard library.
+    "parry2d/spade",
     "nalgebra/std",
     "simba/std",
     "num-traits/std",
@@ -48,6 +51,13 @@ std = [
     "wide/std",
     "serde?/std",
 ]
+# Adds an alternative FEM solver for soft bodies, selected per body with
+# `SoftBodyBuilder::solver(SoftBodySolver::Fem)`. Instead of resolving elasticity
+# as sequential impulse rows, the FEM path assembles the element forces and
+# tangent stiffness of a strain-energy density and takes one implicit Euler step
+# per substep, solving `(M + h D + h^2 K) dv = b` over the whole body. Off by
+# default: it adds per-body solver state and is still experimental.
+fem = []
 parallel = ["dep:rayon", "std", "parry2d/parallel"]
 # Drops the `Sync` requirement from callbacks (`PhysicsHooks`, `EventHandler`).
 # As a side effect, this also removes the dedicated threadpool API from the physics world

crates/rapier2d/tests/ccd_default_vs_fixed.rs

@@ -10,6 +10,7 @@ struct Harness {
     colliders: ColliderSet,
     impulse_joints: ImpulseJointSet,
     multibody_joints: MultibodyJointSet,
+    soft_bodies: SoftBodySet,
     pipeline: PhysicsPipeline,
     bf: BroadPhaseBvh,
     nf: NarrowPhase,
@@ -26,6 +27,7 @@ impl Harness {
             colliders: ColliderSet::new(),
             impulse_joints: ImpulseJointSet::new(),
             multibody_joints: MultibodyJointSet::new(),
+            soft_bodies: SoftBodySet::new(),
             pipeline: PhysicsPipeline::new(),
             bf: BroadPhaseBvh::new(),
             nf: NarrowPhase::new(),
@@ -48,6 +50,7 @@ impl Harness {
             &mut self.colliders,
             &mut self.impulse_joints,
             &mut self.multibody_joints,
+            &mut self.soft_bodies,
             &mut self.ccd,
             &(),
             &(),

crates/rapier2d/tests/ccd_oriented_wall.rs

@@ -8,6 +8,7 @@ fn fires_through(wall: ColliderBuilder, speed: f32) -> f32 {
     let mut colliders = ColliderSet::new();
     let mut impulse_joints = ImpulseJointSet::new();
     let mut multibody_joints = MultibodyJointSet::new();
+    let mut soft_bodies = SoftBodySet::new();
     let mut pipeline = PhysicsPipeline::new();
     let mut bf = BroadPhaseBvh::new();
     let mut nf = NarrowPhase::new();
@@ -37,6 +38,7 @@ fn fires_through(wall: ColliderBuilder, speed: f32) -> f32 {
             &mut colliders,
             &mut impulse_joints,
             &mut multibody_joints,
+            &mut soft_bodies,
             &mut ccd,
             &(),
             &(),

crates/rapier2d/tests/ccd_semantics.rs

@@ -33,13 +33,16 @@ impl EventHandler for EventCollector {
         _total_force_magnitude: Real,
     ) {
     }
+
+    fn handle_soft_body_tear_event(&self, _soft_bodies: &SoftBodySet, _event: &SoftBodyTearEvent) {}
 }
 
 struct Harness {
     bodies: RigidBodySet,
     colliders: ColliderSet,
     impulse_joints: ImpulseJointSet,
     multibody_joints: MultibodyJointSet,
+    soft_bodies: SoftBodySet,
     pipeline: PhysicsPipeline,
     bf: BroadPhaseBvh,
     nf: NarrowPhase,
@@ -57,6 +60,7 @@ impl Harness {
             colliders: ColliderSet::new(),
             impulse_joints: ImpulseJointSet::new(),
             multibody_joints: MultibodyJointSet::new(),
+            soft_bodies: SoftBodySet::new(),
             pipeline: PhysicsPipeline::new(),
             bf: BroadPhaseBvh::new(),
             nf: NarrowPhase::new(),
@@ -80,6 +84,7 @@ impl Harness {
             &mut self.colliders,
             &mut self.impulse_joints,
             &mut self.multibody_joints,
+            &mut self.soft_bodies,
             &mut self.ccd,
             &(),
             &self.events,

crates/rapier2d/tests/issue_629_large_ground_stability.rs

@@ -11,6 +11,7 @@ struct Harness {
     colliders: ColliderSet,
     impulse_joints: ImpulseJointSet,
     multibody_joints: MultibodyJointSet,
+    soft_bodies: SoftBodySet,
     pipeline: PhysicsPipeline,
     bf: BroadPhaseBvh,
     nf: NarrowPhase,
@@ -27,6 +28,7 @@ impl Harness {
             colliders: ColliderSet::new(),
             impulse_joints: ImpulseJointSet::new(),
             multibody_joints: MultibodyJointSet::new(),
+            soft_bodies: SoftBodySet::new(),
             pipeline: PhysicsPipeline::new(),
             bf: BroadPhaseBvh::new(),
             nf: NarrowPhase::new(),
@@ -48,6 +50,7 @@ impl Harness {
             &mut self.colliders,
             &mut self.impulse_joints,
             &mut self.multibody_joints,
+            &mut self.soft_bodies,
             &mut self.ccd,
             &(),
             &(),

crates/rapier2d/tests/issue_643_polyline_corner_stuck.rs

@@ -12,6 +12,7 @@ struct Harness {
     colliders: ColliderSet,
     impulse_joints: ImpulseJointSet,
     multibody_joints: MultibodyJointSet,
+    soft_bodies: SoftBodySet,
     pipeline: PhysicsPipeline,
     bf: BroadPhaseBvh,
     nf: NarrowPhase,
@@ -28,6 +29,7 @@ impl Harness {
             colliders: ColliderSet::new(),
             impulse_joints: ImpulseJointSet::new(),
             multibody_joints: MultibodyJointSet::new(),
+            soft_bodies: SoftBodySet::new(),
             pipeline: PhysicsPipeline::new(),
             bf: BroadPhaseBvh::new(),
             nf: NarrowPhase::new(),
@@ -49,6 +51,7 @@ impl Harness {
             &mut self.colliders,
             &mut self.impulse_joints,
             &mut self.multibody_joints,
+            &mut self.soft_bodies,
             &mut self.ccd,
             &(),
             &(),

crates/rapier2d/tests/issue_669_polyline_ghost_collisions.rs

@@ -11,6 +11,7 @@ struct Harness {
     colliders: ColliderSet,
     impulse_joints: ImpulseJointSet,
     multibody_joints: MultibodyJointSet,
+    soft_bodies: SoftBodySet,
     pipeline: PhysicsPipeline,
     bf: BroadPhaseBvh,
     nf: NarrowPhase,
@@ -27,6 +28,7 @@ impl Harness {
             colliders: ColliderSet::new(),
             impulse_joints: ImpulseJointSet::new(),
             multibody_joints: MultibodyJointSet::new(),
+            soft_bodies: SoftBodySet::new(),
             pipeline: PhysicsPipeline::new(),
             bf: BroadPhaseBvh::new(),
             nf: NarrowPhase::new(),
@@ -48,6 +50,7 @@ impl Harness {
             &mut self.colliders,
             &mut self.impulse_joints,
             &mut self.multibody_joints,
+            &mut self.soft_bodies,
             &mut self.ccd,
             &(),
             &(),

crates/rapier2d/tests/issue_718_contact_reporting_feature_churn.rs

@@ -34,7 +34,8 @@ fn sliding_cuboid_contact_reporting_does_not_panic() {
 
     let (collision_send, collision_recv) = channel();
     let (force_send, force_recv) = channel();
-    let events = ChannelEventCollector::new(collision_send, force_send);
+    let (tear_send, _tear_recv) = channel();
+    let events = ChannelEventCollector::new(collision_send, force_send, tear_send);
 
     let mut num_collision_events = 0;
     for _ in 0..300 {

crates/rapier2d/tests/issue_752_oneway_platform_normal.rs

@@ -27,6 +27,7 @@ fn oneway_platform_with_custom_normal() {
     let mut colliders = ColliderSet::new();
     let mut impulse_joints = ImpulseJointSet::new();
     let mut multibody_joints = MultibodyJointSet::new();
+    let mut soft_bodies = SoftBodySet::new();
     let mut pipeline = PhysicsPipeline::new();
     let mut bf = BroadPhaseBvh::new();
     let mut nf = NarrowPhase::new();
@@ -64,6 +65,7 @@ fn oneway_platform_with_custom_normal() {
             &mut colliders,
             &mut impulse_joints,
             &mut multibody_joints,
+            &mut soft_bodies,
             &mut ccd,
             &hooks,
             &(),

crates/rapier2d/tests/issue_772_pin_slot_joint.rs

@@ -9,6 +9,7 @@ fn pin_slot_joint_allows_one_translation_and_free_rotation() {
     let mut colliders = ColliderSet::new();
     let mut impulse_joints = ImpulseJointSet::new();
     let mut multibody_joints = MultibodyJointSet::new();
+    let mut soft_bodies = SoftBodySet::new();
     let mut pipeline = PhysicsPipeline::new();
     let mut bf = BroadPhaseBvh::new();
     let mut nf = NarrowPhase::new();
@@ -41,6 +42,7 @@ fn pin_slot_joint_allows_one_translation_and_free_rotation() {
             &mut colliders,
             &mut impulse_joints,
             &mut multibody_joints,
+            &mut soft_bodies,
             &mut ccd,
             &(),
             &(),

crates/rapier2d/tests/issue_818_nan_tangent_impulse.rs

@@ -15,6 +15,7 @@ fn capsule_on_tilted_cuboid_reports_finite_impulses() {
     let mut colliders = ColliderSet::new();
     let mut impulse_joints = ImpulseJointSet::new();
     let mut multibody_joints = MultibodyJointSet::new();
+    let mut soft_bodies = SoftBodySet::new();
     let mut pipeline = PhysicsPipeline::new();
     let mut broad_phase = DefaultBroadPhase::new();
     let mut narrow_phase = NarrowPhase::new();
@@ -57,13 +58,14 @@ fn capsule_on_tilted_cuboid_reports_finite_impulses() {
             &mut colliders,
             &mut impulse_joints,
             &mut multibody_joints,
+            &mut soft_bodies,
             &mut ccd,
             &(),
             &(),
         );
 
         for pair in narrow_phase.contact_pairs() {
-            for manifold in &pair.manifolds {
+            for manifold in pair.manifolds() {
                 for pt in &manifold.points {
                     assert!(
                         pt.data.impulse.is_finite(),

crates/rapier2d/tests/issue_919_prediction_distance_restitution.rs

@@ -31,6 +31,7 @@ fn rebound(e: f32, prediction_distance: Option<f32>) -> f32 {
     let mut narrow_phase = NarrowPhase::new();
     let mut impulse_joints = ImpulseJointSet::new();
     let mut multibody_joints = MultibodyJointSet::new();
+    let mut soft_bodies = SoftBodySet::new();
     let mut ccd = CCDSolver::new();
     let mut params = IntegrationParameters::default();
     if let Some(pred) = prediction_distance {
@@ -51,6 +52,7 @@ fn rebound(e: f32, prediction_distance: Option<f32>) -> f32 {
             &mut colliders,
             &mut impulse_joints,
             &mut multibody_joints,
+            &mut soft_bodies,
             &mut ccd,
             &(),
             &(),

crates/rapier2d/tests/miri_scenes.rs

@@ -22,6 +22,7 @@ struct World {
     colliders: ColliderSet,
     impulse_joints: ImpulseJointSet,
     multibody_joints: MultibodyJointSet,
+    soft_bodies: SoftBodySet,
     islands: IslandManager,
     broad_phase: DefaultBroadPhase,
     narrow_phase: NarrowPhase,
@@ -38,6 +39,7 @@ impl World {
             colliders: ColliderSet::new(),
             impulse_joints: ImpulseJointSet::new(),
             multibody_joints: MultibodyJointSet::new(),
+            soft_bodies: SoftBodySet::new(),
             islands: IslandManager::new(),
             broad_phase: DefaultBroadPhase::new(),
             narrow_phase: NarrowPhase::new(),
@@ -59,6 +61,7 @@ impl World {
             &mut self.colliders,
             &mut self.impulse_joints,
             &mut self.multibody_joints,
+            &mut self.soft_bodies,
             &mut self.ccd,
             &(),
             &(),
@@ -216,6 +219,7 @@ fn body_removal_midrun() {
         &mut w.colliders,
         &mut w.impulse_joints,
         &mut w.multibody_joints,
+        &mut w.soft_bodies,
         true,
     );
     w.run(60);