Character

• Added OnContactPersisted, OnContactRemoved, OnCharacterContactPersisted and OnCharacterContactRemoved functions on CharacterContactListener to better match the interface of ContactListener.
• Every CharacterVirtual now has a CharacterID. This ID can be used to identify the character after removal and is used to make the simulation deterministic in case a character collides with multiple other virtual characters.
• Added support for CharacterVirtual to override the inner rigid body ID. This can be used to make the simulation deterministic in e.g. client/server setups.

Collision Detection

• Added PhysicsSystem::SetSimShapeFilter. This allows filtering out collisions between sub shapes within a body and can for example be used to have a single body that contains a low detail simulation shape an a high detail collision query shape. An example of a body that's both a sensor and a rigid body can be found in ContactListenerTest.
• Added PhysicsSystem::SetSimCollideBodyVsBody. This allows overriding the collision detection between two bodies. It can be used to only store the 1st hit for sensor collisions. This makes sensors cheaper if you only need to know if there is an overlap or not. An example can be found in SimCollideBodyVsBodyTest.
• Added ClosestHitPerBodyCollisionCollector which will report the closest / deepest hit per body that the collision query collides with.
• Added overridable CollisionCollector::OnBodyEnd that is called after all hits for a body have been processed when collecting hits through NarrowPhaseQuery.

New Platforms

• Added support for RISC-V, LoongArch and PowerPC (Little Endian) CPUs.
• Added support for WASM64.

Various

• Removed the use of std::unordered_map and std::unordered_set and replaced them with our own implementation: UnorderedMap and UnorderedSet.
• Added MotionProperties::ScaleToMass. This lets you easily change the mass and inertia tensor of a body after creation.
• Split up Body::ApplyBuoyancyImpulse into Body::GetSubmergedVolume and Body::ApplyBuoyancyImpulse. This allows you to use the calculated submerged volume for other purposes.
• Added binary serialization to SkeletalAnimation.
• Added the ability to add a sub shape at a specified index in a MutableCompoundShape rather than at the end.
• Added STLLocalAllocator which is an allocator that can be used in e.g. the Array class. It keeps a fixed size buffer for N elements and only when it runs out of space falls back to the heap.
• Added the following constants on PhysicsSystem: cMaxBodiesLimit, cMaxBodyPairsLimit and cMaxContactConstraintsLimit. These constants are the max allowable values for PhysicsSystem::Init. Exceeding these will trigger an assert and the system will clamp the values. Note that on a 32 bit system, you'll run out of memory before you reach these values.

Bug fixes

• Fixed bodies gaining more energy than intended due to restitution. E.g. A restitution of 1 could lead to bodies bouncing ever higher.
• BodyInterface::AddForce applied a force per soft body vertex rather than to the whole body, this resulted in a soft body accelerating much more compared to a rigid body of the same mass.
• std::push_heap/pop_heap behave differently on macOS vs Windows/Linux when elements compare equal, this made the cross platform deterministic build not deterministic in some cases.
• Removing a sub shape from a MutableCompoundShape would not update the bounding box if the last shape was removed, which can result in a small performance loss.
• An empty MutableCompoundShape now returns the same local bounding box as EmptyShape (a point at (0, 0, 0)). This prevents floating point overflow exceptions.
• VehicleConstraint would override Body::SetAllowSleeping every frame, making it impossible for client code to configure a vehicle that cannot go to sleep.
• Fixed CharacterVirtual::Contact::mIsSensorB not being persisted in SaveState.
• Fixed CharacterVirtual::Contact::mHadContact not being true for collisions with sensors. They will still be marked as mWasDiscarded to prevent any further interaction.
• Fixed Character::SetShape failing to switch when standing inside a sensor / Character::PostSimulation finding a sensor as ground collision.
• Fixed numerical inaccuracy in penetration depth calculation when CollideShapeSettings::mMaxSeparationDistance was set to a really high value (e.g. 1000).
• Bugfix in Semaphore::Acquire for non-windows platform. The count was updated before waiting, meaning that the counter would become -(number of waiting threads) and the semaphore would not wake up until at least the same amount of releases was done. In practice this meant that the main thread had to do the last (number of threads) jobs, slowing down the simulation a bit.
• Fixed a bug in ManifoldBetweenTwoFaces that led to incorrect ContactManifold::mRelativeContactPointsOn2 when the contact normal and the face normal were not roughly parallel. Also it possibly led to jitter in the simulation in that case.
• Fixed InternalEdgeRemovingCollector not working when colliding with a very dense triangle grid because it ran out of internal space. Now falling back to memory allocations when this happens to avoid ghost collisions.
• Fixed running out of stack space when simulating a really high number of active rigid bodies.
• Moved the 'broad phase bit' to the highest bit in BodyID to avoid running out of NodeIDs in BroadPhaseQuadTree when calling PhysicsSystem::OptimizeBroadPhase on a tree with a very high body count.
• TempAllocatorImpl uses 64 bit integers internally to allow for a higher max contact constraint count.
• When inserting lots of bodies without using batching, a broad phase tree of depth > 128 can be created. If the PhysicsSystem was destructed in this situation, a stack overflow would cause a crash.
• When calling PhysicsSystem::Update with a delta time of 0, contact remove callbacks were triggered by accident for all existing contacts.
• Fixed HingeConstraint not having limits if LimitsMin was set to -JPH_PI or LimitsMax was set to JPH_PI. It should only be turned off if both are.
• Fixed CylinderShape::GetSupportingFace returning the wrong face. When the height of a cylinder was small compared to its radius, it would sink more into the ground than needed during simulation.
• When there were no active bodies, the step listeners weren't called. This meant they couldn't wake up bodies. The step listeners are now only skipped if the physics system is updated with zero delta time.
• Fixed a race condition in soft body simulation that could break determinism.
• Added overloads for placement new in the JPH_OVERRIDE_NEW_DELETE macro, this means it is no longer needed to do :: new (address) JPH::class_name(constructor_arguments) but you can do new (address) JPH::class_name(constructor_arguments).
• Fixed a GCC warning -Wshadow=global.