Release v0.29.0

Author: sebcrozet

CHANGELOG.md

@@ -1,3 +1,19 @@
+## v0.29.0 (05 Sept. 2025)
+
+This version contains a significant rework of the internal velocity constraints solver.
+This makes it both simpler and more optimized (making the whole simulation up to 25% faster). For details on all the
+changes, see [#876](https://github.com/dimforge/rapier/pull/876).
+
+Notable changes include:
+
+- Update to parry 0.24 (includes a breaking change where all the `*angular_inertia_sqrt` fields and functions have been
+  replaced by their non-square-root equivalent.
+- Fixed bug where friction on kinematic bodies would affect dynamic bodies much more weakly than it should.
+- In 3D, added a new friction model that is more efficient than the traditional Coulomb friction. This new simplified
+  model is enabled by default and can be changed with `IntegrationParameters::friction_model`.
+- Removed support for the legacy PGS solver. Removed `IntegrationParameters::pgs_legacy` and
+  `::tgs_soft_without_warmstart`.
+
 ## v0.28.0 (08 August 2025)
 
 ### Modified

crates/rapier2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d-f64"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"

crates/rapier2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier2d"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "2-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier2d"

crates/rapier3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-f64"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"

crates/rapier3d-meshloader/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-meshloader"
-version = "0.9.0"
+version = "0.10.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "STL file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-meshloader"
@@ -29,4 +29,4 @@ thiserror = "2"
 profiling = "1.0"
 mesh-loader = "0.1.12"
 
-rapier3d = { version = "0.28.0", path = "../rapier3d" }
+rapier3d = { version = "0.29.0", path = "../rapier3d" }

crates/rapier3d-urdf/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d-urdf"
-version = "0.9.0"
+version = "0.10.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "URDF file loader for the 3D rapier physics engine."
 documentation = "https://docs.rs/rapier3d-urdf"
@@ -31,5 +31,5 @@ anyhow = "1"
 bitflags = "2"
 urdf-rs = "0.9"
 
-rapier3d = { version = "0.28.0", path = "../rapier3d" }
-rapier3d-meshloader = { version = "0.9.0", path = "../rapier3d-meshloader", default-features = false, optional = true }
+rapier3d = { version = "0.29.0", path = "../rapier3d" }
+rapier3d-meshloader = { version = "0.10.0", path = "../rapier3d-meshloader", default-features = false, optional = true }

crates/rapier3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier3d"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "3-dimensional physics engine in Rust."
 documentation = "https://docs.rs/rapier3d"

crates/rapier_testbed2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d-f64"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier2d-f64"
 path = "../rapier2d-f64"
-version = "0.28.0"
+version = "0.29.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed2d"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -98,5 +98,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier2d"
 path = "../rapier2d"
-version = "0.28.0"
+version = "0.29.0"
 features = ["serde-serialize", "debug-render", "profiler"]

crates/rapier_testbed3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "rapier_testbed3d-f64"
-version = "0.28.0"
+version = "0.29.0"
 authors = ["Sébastien Crozet <sebcrozet@dimforge.com>"]
 description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
 homepage = "http://rapier.rs"
@@ -99,5 +99,5 @@ bevy = { version = "0.15", default-features = false, features = [
 [dependencies.rapier]
 package = "rapier3d-f64"
 path = "../rapier3d-f64"
-version = "0.28.0"
+version = "0.29.0"
 features = ["serde-serialize", "debug-render", "profiler"]