Release v0.35.0

CHANGELOG.md

@@ -1,4 +1,4 @@
-## Unreleased
+## v0.35.0 (08 August 2026)
 
 ### Added
 
@@ -41,6 +41,34 @@
   including movements exactly orthogonal to the up vector, instead of requiring a downward
   motion larger than an arbitrary epsilon. Purely lateral movement along the ground no longer
   flickers the `grounded` flag when snap-to-ground is enabled (PR #481 by @ChrisJanssens).
+- Restitution is now applied as an end-of-step pass instead of during the velocity solve, so
+  contacts detected speculatively (within the prediction distance) bounce with the requested
+  coefficient instead of being damped away by the prediction distance (issue #974).
+- SIMD joint constraints now build their local frames relative to the body's center of mass,
+  fixing joints on bodies whose center of mass isn't at their origin (PR #953 by @Kyzzsa).
+- The broad phase now filters candidate pairs by collision groups, so colliders that can never
+  interact don't reach the narrow phase at all (issue #288).
+- `ContactForceEvent` sums the pair's *solver* manifolds, so contact clustering no longer
+  makes the reported force and contact point disagree with what the solver applied.
+- Generic (multibody) contact constraints now rebuild their anchors in the same frames the
+  substep update uses, fixing multibodies welded to rigid-bodies never settling (issue #968).
+- `RigidBodyBuilder::additional_mass` on a body whose colliders are all massless (zero density)
+  now derives the angular inertia from the collider shapes instead of leaving it null, so such
+  bodies rotate (issue #666).
+- Joints specified through a subset of their axes now complete the missing frame axes with a
+  twist-consistent minimal rotation, so a prismatic joint whose axis isn't `x` no longer picks
+  an arbitrarily rolled frame (issue #746).
+- `RigidBody::sleep()` is now honored immediately, even when the body was repositioned during
+  the same frame (issue #448).
+- `ImpulseJointSet::joints_between` now yields every joint between the two bodies instead of
+  only the first (issue #866).
+- `CollisionPipeline::step` now clears the rigid-bodies' modified flags, so a collision-only
+  pipeline no longer accumulates stale change tracking (issue #662).
+- Contact impulses are stored with canonicalized signed zeros, removing a source of
+  cross-platform divergence with `enhanced-determinism`.
+- The debug-renderer now draws the border radius of 2D round triangles (issue #634).
+- Testbed: objects no longer flash visible for one frame when the surface rendering is
+  disabled (issue #843).
 
 ### Modified
 

Cargo.toml

@@ -45,7 +45,7 @@ exclude = ["typescript"]
 resolver = "2"
 
 [workspace.package]
-version = "0.35.0-beta.0"
+version = "0.35.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 homepage = "https://rapier.rs"
 repository = "https://github.com/dimforge/rapier"
@@ -124,18 +124,18 @@ getrandom = { version = "0.2", features = ["js"] }
 wasm-bindgen = "0.2"
 
 # Internal crates (paths are relative to the workspace root)
-rapier2d = { version = "0.35.0-beta.0", path = "crates/rapier2d" }
-rapier2d-f64 = { version = "0.35.0-beta.0", path = "crates/rapier2d-f64" }
-rapier3d = { version = "0.35.0-beta.0", path = "crates/rapier3d" }
-rapier3d-f64 = { version = "0.35.0-beta.0", path = "crates/rapier3d-f64" }
-rapier_testbed2d = { version = "0.35.0-beta.0", path = "crates/rapier_testbed2d" }
-rapier_testbed2d-f64 = { version = "0.35.0-beta.0", path = "crates/rapier_testbed2d-f64" }
-rapier_testbed3d = { version = "0.35.0-beta.0", path = "crates/rapier_testbed3d" }
-rapier_testbed3d-f64 = { version = "0.35.0-beta.0", path = "crates/rapier_testbed3d-f64" }
-rapier3d-urdf = { version = "0.35.0-beta.0", path = "crates/rapier3d-urdf" }
-rapier3d-meshloader = { version = "0.35.0-beta.0", path = "crates/rapier3d-meshloader", default-features = false }
-mjcf-rs = { version = "0.35.0-beta.0", path = "crates/mjcf-rs" }
-rapier3d-mjcf = { version = "0.35.0-beta.0", path = "crates/rapier3d-mjcf" }
+rapier2d = { version = "0.35.0", path = "crates/rapier2d" }
+rapier2d-f64 = { version = "0.35.0", path = "crates/rapier2d-f64" }
+rapier3d = { version = "0.35.0", path = "crates/rapier3d" }
+rapier3d-f64 = { version = "0.35.0", path = "crates/rapier3d-f64" }
+rapier_testbed2d = { version = "0.35.0", path = "crates/rapier_testbed2d" }
+rapier_testbed2d-f64 = { version = "0.35.0", path = "crates/rapier_testbed2d-f64" }
+rapier_testbed3d = { version = "0.35.0", path = "crates/rapier_testbed3d" }
+rapier_testbed3d-f64 = { version = "0.35.0", path = "crates/rapier_testbed3d-f64" }
+rapier3d-urdf = { version = "0.35.0", path = "crates/rapier3d-urdf" }
+rapier3d-meshloader = { version = "0.35.0", path = "crates/rapier3d-meshloader", default-features = false }
+mjcf-rs = { version = "0.35.0", path = "crates/mjcf-rs" }
+rapier3d-mjcf = { version = "0.35.0", path = "crates/rapier3d-mjcf" }
 
 # Dev
 bincode = "1"

crates/rapier_testbed2d-f64/Cargo.toml

@@ -60,5 +60,5 @@ env_logger.workspace = true
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.35.0-beta.0"
+version = "0.35.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed2d/Cargo.toml

@@ -60,5 +60,5 @@ env_logger.workspace = true
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.35.0-beta.0"
+version = "0.35.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -60,5 +60,5 @@ env_logger.workspace = true
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.35.0-beta.0"
+version = "0.35.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d/Cargo.toml

@@ -60,5 +60,5 @@ env_logger.workspace = true
 [dependencies.rapier]
 package = "rapier3d"
 path = "../rapier3d"
-version = "0.35.0-beta.0"
+version = "0.35.0"
 features = ["serde-serialize", "debug-render", "profiler"]

python/rapier-testbed/pyproject.toml

@@ -4,7 +4,7 @@ build-backend = "hatchling.build"
 
 [project]
 name = "rapier-testbed"
-version = "0.35.0b0"
+version = "0.35.0"
 description = "Panda3D-based visual testbed and example gallery for the Rapier Python bindings."
 readme = "README.md"
 license = { text = "Apache-2.0" }

typescript/CHANGELOG.md

@@ -1,4 +1,4 @@
-## Unreleased
+## 0.20.0 (08 August 2026)
 
 ### Breaking changes
 
@@ -19,6 +19,28 @@
   `friction()` and `restitution()`, without a contact index: friction and restitution are
   now combined once per manifold, so every solver contact of a manifold shares them.
 
+### Added
+
+- `SphericalImpulseJoint` motors are now exposed (they were commented out as "unsupported"):
+  `configureMotorModel`, `setMotorMaxForce`, `configureMotorVelocity`, `configureMotorPosition`
+  and `configureMotor`. They are all per-axis and take a new `JointAxis` enum as their first
+  argument (issue #791).
+
+### Fixed
+
+- The `-compat` packages now pass the embedded wasm module to `init()` as an object, fixing
+  initialization with recent `wasm-bindgen` output (issues #977, #811).
+- The `-compat` `raw.d.ts` now points at the wasm module matching the built feature variant
+  (deterministic/simd), instead of always the default one (PR #964).
+
+### Modified
+
+- Update to Rapier 0.35.0: rewritten sleeping (persistent islands), a sweep-based CCD that is
+  now enabled by default against fixed colliders, a reworked narrow-phase/solver and a broad
+  phase tuned for large mostly-static worlds. Several contact and sleeping defaults changed —
+  see [rapier's changelog](https://github.com/dimforge/rapier/blob/master/CHANGELOG.md#v0350-08-august-2026)
+  for the full list.
+
 ## 0.19.3 (05 Nov. 2025)
 
 - Significantly improve performances of `combineVoxelStates`.

typescript/builds/prepare_builds/templates/Cargo.toml.tera

@@ -1,6 +1,6 @@
 [package]
 name = "dimforge_{{ js_package_name }}" # Can't be named rapier{{ dimension }}d which conflicts with the dependency.
-version = "0.19.3"
+version = "0.20.0"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 description = "{{ dimension }}-dimensional physics engine in Rust - official JS bindings."
 documentation = "https://rapier.rs/rustdoc/rapier{{ dimension }}d/index.html"
@@ -30,7 +30,7 @@ rust.unexpected_cfgs = { level = "warn", check-cfg = [
 # `rapier{2,3}d` is patched to the in-repo crate (see the workspace
 # `[patch.crates-io]` in ../../Cargo.toml); this version requirement must stay
 # semver-compatible with that crate's version for the patch to take effect.
-rapier{{ dimension }}d = { version = "0.35.0-beta.0", features = [
+rapier{{ dimension }}d = { version = "0.35.0", features = [
     "serde-serialize",
     "debug-render",
     "profiler",