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Changelog

Jitter 2.7.1 (2025-06-28)​

  • Added RigidBody.EnableGyroscopicForces to include gyroscopic forces.

Jitter 2.7.0 (2025-06-14)​

  • Dropped .NET7 support
  • Added JQuaternion.ToAxisAngle method
  • Renamed JBBox to JBoundingBoxand TreeBBox to TreeBox.
  • Various smaller API changes.

Jitter 2.6.7 (2025-06-09)​

  • Introduced SIMD accelerated TreeBBox for DynamicTree.

Jitter 2.6.6 (2025-05-31)​

  • Implicit conversion for JVector and JQuaternion from tuples, e.g. cube.Position = (1, 2, 3);.
  • Added PreStep and PostStep to World.Timings.
  • Added NarrowPhase.Sweep overload which calculates time of impact (TOI) for rotating shapes.
  • RegisterContact no longer requires a penetration and a speculative parameter.
  • Bugfix: MathHelper.RotationQuaternion, fixed wrong/not normalized quaternion generation for large dt.
  • Added an additional normal out-parameter to NarrowPhase.Distance.
  • Renamed JVector.TransposedTransform(in JVector vector, in JQuaternion quat) to ConjugatedTransform.
  • Added Anchor1 and Anchor2 properties to BallSocket.
  • Bugfix: Skipping degenerate triangles in TriangleMesh now works correctly.

Jitter 2.6.5 (2025-05-21)​

  • Rigid bodies now activate on velocity or force changes.
  • Removed FatTriangleShape.
  • Renamed 'Active' to 'ActiveCount' and add span-based accessors in ReadOnlyPartitionedSet.
  • Fixed bug in TriangleEdgeCollisionFilter.

Jitter 2.6.4 (2025-05-19)​

  • Breaking Change: Triangle winding order in TriangleMesh is now counter-clockwise (CCW) for front-facing triangles. If you're using TriangleMesh, swap the vertex order to maintain correct normal orientation.
  • Added JTriangle.RayIntersect method.
  • Renamed ConvexHullIntersection to CollisionManifold.
  • Modified support function for BoxShape.

Jitter 2.6.3 (2025-05-17)​

  • Aligned rigid bodies (RigidBodyData) to a 64-byte boundary (reduce false sharing).
  • Bugfix in speculative contacts.

Jitter 2.6.2 (2025-05-06)​

  • Use Generics in NarrowPhase.cs (avoid boxing for structs implementing the ISupportMappable interface).
  • Added special code paths in Contact.cs for static bodies (avoid unnecessary cache line invalidation).
  • Added PredictPosition, PredictOrientation and PredictPose to RigidBody.
  • Added CreateFromAxisAngle and Normalize methods in JQuaternion.

Jitter 2.6.1 (2025-04-24)​

  • Bugfix in TriangleEdgeCollisionFilter for speculative contacts.

Jitter 2.6.0 (2025-04-24)​

  • Added SampleHull and MakeHull to ShapeHelper.
  • Fixed hill climbing getting stuck for ConvexHullShapes.
  • Added SIMD support for PointCloudShapes.
  • Added option to ignore degenerated triangles in TriangleMesh.
  • Made thickness parameter mandatory in FatTriangleShape.
  • Added Fisher-Yates shuffle to DynamicTree.Optimize.
  • Optimized TriangleEdgeCollisionFilter.

Jitter 2.5.9 (2025-04-17)​

  • Use CollideEpsilon 1e-5 in MPREPA.
  • Fixed a bug in ShardedDictionary.

Jitter 2.5.8 (2025-04-16)​

  • Fixed DynamicTree.Optimize messing up collision pairs.
  • Refactored SoftBody.cs
  • Improved TriangleEdgeCollisionFilter.
  • Further reduced GC.

Jitter 2.5.7 (2025-04-06)​

  • Fixed possible crash when dynamically making bodies static.
  • Improved memory footprint and reduced GC.
  • Added Logger as a replacement for Trace.

Jitter 2.5.6 (2025-03-08)​

  • Fixed concurrency bug in world.GetArbiter.

Jitter 2.5.5 (2025-03-02)​

  • Added implicit conversion operators for System.Numerics Vector3 and Quaternion.
  • Replaced Trace.WriteLine with Trace.Information, Warning, Error.

Jitter 2.5.4 (2025-02-08)​

  • Renamed JAngle.Radiant to JAngle.Radian.
  • Renamed namespace Jitter2.UnmanagedMemory to Jitter2.Unmanaged.
  • Fixed body.AddShape(IEnumerable<RigidBodyShape> shapes) for one-time-use iterators.
  • Smaller improvements in XML-documentation.

Jitter 2.5.3 (2025-01-12)​

  • DynamicTree, Optimize takes a delegate now.
  • Fixed TriangleShape ray cast not returning a normalized normal.
  • Removed the CollisionHelper class.
  • Renamed ActiveList and UnmanagedActiveList to PartitionedSet and PartitionedBuffer, respectively.
  • Various smaller improvements (ToString() overloads, IEquality<T> implementations, XML-documentation)

Jitter 2.5.2 (2025-01-08)​

  • Added enumeration method to DynamicTree and made PairHashSet internal.
  • Breaking Change: Removed UseFullEPASolver option.
  • Further improved simulation performance under high lock contention scenarios.

Jitter 2.5.1 (2024-12-31)​

  • Bugfix in PairHashSet.

Jitter 2.5.0 (2024-12-23)​

  • Better utilization of multi core systems.
  • Bugfix in collision detection (possible NaN values).

Jitter 2.4.9 (2024-12-18)​

  • Huge improvements for the DynamicTree implementation.

Jitter 2.4.8 (2024-11-27)​

  • Add option to build in double precision mode.
  • Made Constraint constructor public to allow for custom constraints.

Jitter 2.4.7 (2024-11-18)​

  • Breaking Change: Dropped .NET6 support, added .NET9.
  • SIMD for contacts.
  • Contact manifold overflow fix.
  • Changed default damping.
  • Improved auxiliary contact points.
  • Minor API changes.

Jitter 2.4.6 (2024-10-28)​

  • Breaking Change: Jitter world is now constructed using World.Capacity.
  • Breaking Change: World.RayCast moved to World.DynamicTree.RayCast.
  • Breaking Change: Renamed NumberSubsteps to SubstepCount.
  • Added split impulses. Breaking Change: SolverIterations property is now a tuple.
  • Several smaller improvements in the API.

Jitter 2.4.5 (2024-10-07)​

  • Added new methods to NarrowPhase: Distance and Overlap.
  • Breaking Change: Renamed NarrowPhase.SweepTest to NarrowPhase.Sweep.
  • Breaking Change: Renamed NarrowPhase.GJKEPA to NarrowPhase.Collision.
  • Made PointTest, Raycast and SweepTest to use new SimplexSolver and SimplexSolverAB implementations.
  • Fixed normal in GJKEPA for separating case.

Jitter 2.4.4 (2024-09-14)​

  • Implemented fixes and workarounds for using Jitter with a debugger attached.

Jitter 2.4.3 (2024-08-31)​

  • Correct corner case beeing wrong in MPR collision detection due to typo (bug fix).
  • FatTriangleShape level did not properly take transformations into account (bug fix).

Jitter 2.4.2 (2024-08-26)​

  • Added FatTriangleShape to give triangles thickness which can be useful for static triangle meshes.
  • Removal from potential pairs in DynamicTree ignores filters from now on (bug fix).
  • Use sweep tests for speculative contacts, vastly improving simulation quality in this scenario.
  • Breaking Change: Redefinition of NarrowPhase.SweepTest results.
  • Improved TriangleEdgeCollisionFilter.

Jitter 2.4.1 (2024-08-21)​

  • Improved TriangleEdgeCollisionFilter.
  • Implemented analytical box and sphere ray casting.
  • Made Restitution and Friction public in Contact.
  • Improved DynamicTree interface.
  • Added Debug.Asserts in ActiveList.
  • Marked ArbiterKey as readonly.
  • Added enumerator to PairHashSet.
  • Changed ShapeHelper.MakeHull to take a generic of type ICollection.

Jitter 2.4.0 (2024-08-10)​

  • Improved TrimPotentialPairs logic.
  • Optimized quaternion vector transformation.
  • Extended functionality of ContactData.UsageMask.
  • Breaking Change: Overhauled the shape system. Regular shapes (box, sphere, capsule, ...) now derive from RigidBodyShape. Some method signatures changed slightly, e.g. ray casting.
  • Improved exceptions.
  • Added ReferenceFrameAttribute.

Jitter 2.3.1 (2024-06-02)​

  • ReadOnly wrappers (ReadOnlyList, ReadOnlyHashset) are now structs.
  • Shapes with very small dimensions might have close to zero or zero mass/inertia. Creating rigid bodies from them now throws an exception (use body.AddShape(shape, setMassInertia: false) to not use the shape's mass properties).
  • Added BeginCollide and EndCollide events per body.

Jitter 2.3.0 (2024-05-20)​

  • Added RigidBody.RemoveShape overload to remove multiple shapes at once.
  • Marked Rigid.ClearShapes deprecated.
  • Breaking Change: Use JQuaternion for orientations. Sorry for the API break.

Jitter 2.2.1 (2024-04-29)​

  • Add optional activate parameter to world.AddShape.
  • Add NarrowPhase.SweepTest.
  • EPA collision detection: various improvements.
  • Improve exit condition for RayCast and PointTest.
  • Remove redundant ArgumentException for zero mass shapes.
  • Handle zero time steps. Throw ArgumentException for negative time steps.
  • Add joint base class to joint classes.

Jitter 2.2.0 (2024-01-02)​

  • Breaking Change: Renamed Raycast to RayCast.
  • world.Remove(world.NullBody) does now remove all shapes, constraints and contacts associated with NullBody.
  • world.AddShape(shape) respects the activation state of the associated rigid body. Most notable: performance improvement when directly adding TriangleShapes to world.NullBody for static geometry.
  • Performance improvements for ConvexHullShape.
  • Improved termination condition in GJKEPA collision detection.

Jitter 2.1.1 (2023-12-17)​

  • Fixed O(n^2) problem in TriangleMesh due to hash collisions.
  • WorldBoundingBox of Shape is now updated even if no RigidBody is attached.

Jitter 2.1.0 (2023-12-10)​

  • Added debug drawing for rigid bodies (RigidBody.DebugDraw).
  • Fixed a bug in CalculateMassInertia within TransformedShape.cs.
  • Improved ray casting performance and introduced NarrowPhase.PointTest.
  • Breaking Change: Inverted behavior of BroadPhaseCollisionFilter.
  • Breaking Change: Inverted definition of damping factors in RigidBody.Damping (0 = no damping, 1 = immediate halt).
  • Added RigidBody.SetMassInertia overload to enable setting the inverse inertia to zero.
  • An exception is now thrown when a body's mass is set to zero.
  • Fixed a bug in the friction handling in Contact.cs.

Jitter 2.0.1 (2023-10-28)​

  • Fixed a bug in contact initialization which affected soft body physics.

Jitter 2.0.0 (2023-10-22)​

Initial stable Release.