Change Log

All notable changes to this package will be documented in this file.

[0.6.0-preview.3] - 2021-01-18

Upgrade guide

PhysicsStep.ThreadCountHint has now been removed, so if you had it set to a value less or equal to 0 (meaning you wanted single threaded simulation with small number of jobs), you now need to set the new field PhysicsStep.MultiThreaded to false. Otherwise, it will be set to true, meaning you'll get a default multi threaded simulation as if PhysicsStep.ThreadCountHint is a positive number.

Changes

Dependencies
- Updated minimum Unity Editor version from 2020.1.0f1 to 2020.1.9f1
- Updated Burst from 1.3.7 to 1.4.1
- Updated Collections from 0.14.0-preview.16 to 0.15.0-preview.21
- Updated Entities from 0.16.0-preview.21 to 0.17.0-preview.41
- Updated Jobs from 0.7.0-preview.17 to 0.8.0-preview.23
Run-Time API
- Added a Collider.Clone() function.
- Added Material to IQueryResult interface and its implementations (RaycastHit, ColliderCastHit, DistanceHit). All hits now have material information of the primitive that was hit.
- Added the following interfaces to ICollidable and all its implementations:
  - These API's represent the equivalent of the familiar GameObjects' query interface, with the addition of Custom version, which takes a collector and enables one to use custom filtering logic when accepting query hits.
  - bool CheckSphere(float3 position, float radius, CollisionFilter filter, QueryInteraction interaction)
  - bool OverlapSphere(float3 position, float radius, ref NativeList<DistanceHit> outHits, CollisionFilter filter, QueryInteraction interaction)
  - bool OverlapSphereCustom<T>(float3 position, float radius, ref T collector, CollisionFilter filter, QueryInteraction interaction) where T : struct, ICollector<DistanceHit>
  - bool CheckCapsule(float3 point1, float3 point2, float radius, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool OverlapCapsule(float3 point1, float3 point2, float radius, ref NativeList<DistanceHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool OverlapCapsuleCustom<T>(float3 point1, float3 point2, float radius, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction) where T : struct, ICollector<DistanceHit>
  - bool CheckBox(float3 center, quaternion orientation, float3 halfExtents, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool OverlapBox(float3 center, quaternion orientation, float3 halfExtents, ref NativeList<DistanceHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool OverlapBoxCustom<T>(float3 center, quaternion orientation, float3 halfExtents, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction where T : struct, ICollector<DistanceHit>
  - bool SphereCast(float3 origin, float radius, float3 direction, float maxDistance, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool SphereCast(float3 origin, float radius, float3 direction, float maxDistance, out ColliderCastHit hitInfo, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool SphereCastAll(float3 origin, float radius, float3 direction, float maxDistance, ref NativeList<ColliderCastHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool SphereCastCustom<T>(float3 origin, float radius, float3 direction, float maxDistance, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction) where T : struct, ICollector<ColliderCastHit>
  - bool BoxCast(float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool BoxCast(float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, out ColliderCastHit hitInfo, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool BoxCastAll(float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, ref NativeList<ColliderCastHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool BoxCastCustom<T>(float3 center, quaternion orientation, float3 halfExtents, float3 direction, float maxDistance, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction) where T : struct, ICollector<ColliderCastHit>
  - bool CapsuleCast(float3 point1, float3 point2, float radius, float3 direction, float maxDistance, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool CapsuleCast(float3 point1, float3 point2, float radius, float3 direction, float maxDistance, out ColliderCastHit hitInfo, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool CapsuleCastAll(float3 point1, float3 point2, float radius, float3 direction, float maxDistance, ref NativeList<ColliderCastHit> outHits, CollisionFilter filter, QueryInteraction queryInteraction)
  - bool CapsuleCastCustom<T>(float3 point1, float3 point2, float radius, float3 direction, float maxDistance, ref T collector, CollisionFilter filter, QueryInteraction queryInteraction) where T : struct, ICollector<ColliderCastHit>
- Exposed the following collider initialization functions:
  - SphereCollider.Initialize(SphereGeometry geometry, CollisionFilter filter, Material material)
  - CapsuleCollider.Initialize(CapsuleGeometry geometry, CollisionFilter filter, Material material)
  - BoxCollider.Initialize(BoxGeometry geometry, CollisionFilter filter, Material material)
  - CylinderCollider.Initialize(CylinderGeometry geometry, CollisionFilter filter, Material material)
  - These functions enable the creation of colliders on stack, as opposed to only creating them using BlobAssetReference<Collider>.Create() methods.
- Replaced all instances of IJobChunk with IJobEntityBatch or IJobEntityBatchWithIndex for better performance.
- CollisionWorld and DynamicsWorld now store index maps linking Entity with RigidBody and Joint indices.
  - Use PhysicsWorld.GetRigidBodyIndex(Entity) to get a RigidBody index for the Bodies array. This replaces the variant from PhysicsWorldExtensions.
  - Use PhysicsWorld.GetJointIndex(Entity) to get a Joint index for the Joints array
  - If map is invalid or Entity is not in map then an index of -1 is returned.
  - BuildPhysicsWorld system updates the maps on update. If updating the world manually then call PhysicsWorld.UpdateIndexMaps() to refresh.
- Removed PhysicsStep.ThreadCountHint since the value is now retrieved from JobsUtility.JobWorkerCount.
- Added PhysicsStep.SingleThreaded to request the simulation with a very small number of single threaded jobs (previously PhysicsStep.ThreadCountHint <= 0).
- Added MeshCollider.Filter and CompoundCollider.Filter setters that set the collision filter on all triangles of the mesh and children of the compound. Furthermore, added the CompoundCollider.RefreshCollisionFilter() to be called when a child filter changes, so that the root level of the compound collider can be updated.
- Collider now has a Filter setter regardless of the type of the collider.
- Collider now has a RespondsToCollision getter that shows if it will participate in collision, or only move and intercept queries.
Authoring/Conversion API
Run-Time Behavior
- ExportPhysicsWorld system should now only get updated when there is at least one entity satisfying BuildPhysicsWorld.DynamicEntityGroup entity query.
Authoring/Conversion Behavior

Fixes

Fixed the issue of BuildPhysicsWorld system not being run when there are not entities in the scene, leading to StepPhysicsWorld system operating on stale data.
Fixed write-back in ContactJacobian.SolveContact() to only affect linear and angular velocity. This prevents JacobianHeader's mass factors from affecting MotionVelocity's mass factors, which used to have multiplicative effect on those mass factors over time.
Fixed the issue where ExportPhysicsWorld system would not get run if there wasn't at least one entity that has PhysicsCollider component.
Fixed a crash on Android 32 with Bursted calls to create a Hash128.
Fixed a bug that was causing AABB of the compound collider to be incorrectly calculated if one of the child colliders were a TerrainCollider.

Known Issues

[0.5.1-preview.2] - 2020-10-14

Upgrade guide

Changes

Dependencies
- Updated Burst from 1.3.2 to 1.3.7
- Updated Mathematics from 1.1.0 to 1.2.1
- Updated Collections from 0.11.0-preview.17 to 0.14.0-preview.16
- Updated Entities from 0.13.0-preview.24 to 0.16.0-preview.21
- Updated Jobs from 0.4.0-preview.18 to 0.7.0-preview.17
Run-Time API
- Added the TerrainCollider.Filter setter
- Removed the CompoundCollider.Filter setter as it was doing the wrong thing (composite collider filters should be the union of their children)
- Added BuildPhysicsWorld.AddDependencyToComplete() which takes a job dependency that the BuildPhysicsWorld system should complete immediately in its OnUpdate() call (before scheduling new jobs). The reason is that this system does reallocations in the OnUpdate() immediately (not in jobs), and any previous jobs that are being run before this system could rely on that data being reallocated. This way, these jobs can provide their dependency to BuildPhysicsWorld and make sure it will wait until they are finished before doing the reallocations.
- Added the option to provide a custom explosion filter in 'PhysicsVelocity.ApplyExplosionForce'.
Authoring/Conversion API
Run-Time Behavior
- Changed Graphical Interpolation default to simpler implementation that doesn't try and consider velocities
- BuildPhysicsWorld.CreateMotions now gives Kinematic bodies a zero Gravity Factor (i.e. they will not be affected by gravity)
- Setting the Collider.Filter is now allowed for Terrain colliders as well, as opposed to previously only working for Convex colliders
Authoring/Conversion Behavior

Fixes

Fixed the potential issues if more than one job implements IBodyPairsJob.
DebugStream.DrawComponent now cleans up its associated GameObject
Fixed a bug in PhysicsVelocity.ApplyExplosionForce where the provided collider's collision filter could prevent the explosion from happening.
Fixed a memory leak in the Collider debug display gizmo

Known Issues

[0.5.0-preview.1] - 2020-09-15

Upgrade guide

Physics systems now update in the FixedStepSimulationSystemGroup, using a fixed timestep provided by the group. This ensures that the results of the physics simulation do not depend on the application's display frame rate. Important consequences for applications:
- Application systems that need to run at the same rate as the physics systems should also be moved into FixedStepSimulationSystemGroup (e.g., systems that handle collision or trigger events).
- Application systems that should continue to run once per display frame should remove any [UpdateAfter] attributes targeting the physics systems. Any update order constraints for such systems should instead be expressed with respected to FixedStepSimulationSystemGroup.
- The DOTS fixed timestep is get/set using the Timestep property on the FixedStepSimulationSystemGroup. The group's default timestep value is 1/60 second. The group's timestep is not affected by changes to the fixed timestep specified in the Project Settings. If this behavior is desired, applications can set FixedStepSimulationSystemGroup.Timestep to UnityEngine.Time.fixedDeltaTime every frame.
- Care must be taken when processing input events during the FixedStepSimulationSystemGroup's update. The group may update zero, or one, or many times per display frame. If input events are polled once per display frame, naive input processing may lead to input events being skipped or processed multiple times.
- If your application's frame rate is faster than the fixed timestep, rigid bodies may appear to move in stop motion by default (as with classic GameObject-base physics). You can enable smoothing options for their graphics representations as needed.
  - Application systems that must update once per display frame, yet which query the Translation or Rotation of dynamic rigid bodies, should instead query LocalToWorld when smoothed graphical transformations are required.
It is possible to see integrity failures when updating to this release. BuildPhysicsWorld and ExportPhysicsWorld expect the chunk layouts for rigid bodies to be the same at both ends of the physics pipeline in order to write the simulation results to component data. These messages indicate that you are making some structural change or modifying rigid bodies' component data (e.g., Translation, Rotation, PhysicsCollider) between these systems.
Old, unused serialized data have been removed from PhysicsShapeAuthoring and PhysicsMaterialTemplate. Ensure you have run the upgrade utility in your project before updating to this version of the package (Window -> DOTS -> Physics -> Upgrade Data).

Changes

Dependencies
- Updated minimum Unity Editor version from 2019.4.0f1 to 2020.1.0f1
- Updated Burst from 1.3.0 to 1.3.2
- Updated Collections from 0.9.0-preview.6 to 0.11.0-preview.17
- Updated Entities from 0.11.1-preview.4 to 0.13.0-preview.24
- Updated Jobs from 0.2.10-preview.12 to 0.4.0-preview.18
- Updated Performance Testing API from 2.0.8-preview to 2.2.0-preview
Run-Time API
- Added the following new types:
  - PhysicsGraphicsIntegration namespace
    - PhysicsGraphicalSmoothing and PhysicsGraphicalInterpolationBuffer components, which can be used to smooth a rigid body's graphical motion when rendering and physics are out of sync
    - RecordMostRecentFixedTime, which stores time values from the most recent tick of FixedStepSimulationSystemGroup
    - BufferInterpolatedRigidBodiesMotion, which stores dynamic rigid bodies' motion properties at the start of the frame when when smoothed bodies use interpolation
    - CopyPhysicsVelocityToSmoothing, which stores dynamic rigid bodies' velocities after physics has finished in the current frame
    - SmoothRigidBodiesGraphicalMotion, which writes dynamic rigid bodies' LocalToWorld when smoothing is enabled
    - GraphicalSmoothingUtility class, which contains various methods for smoothing the motion of rigid bodies
- Renamed ComponentExtensions to PhysicsComponentExtensions
- Changed the following members/types:
  - PhysicsComponentExtensions.GetCenterOfMassWorldSpace() now passes PhysicsMass as in rather than ref.
  - PhysicsComponentExtensions.GetLinearVelocity() now passes PhysicsVelocity as in.
  - PhysicsWorldExtensions.CalculateVelocityToTarget() is now implemented and passes a RigidTransform for the target rather than a separate float3 and quaternion.
- Removed the following expired members/types:
  - BodyIndexPair.BodyAIndex
  - BodyIndexPair.BodyBIndex
  - Body pair interfaces on events and modifiers (CollisionEvent, TriggerEvent, ModifiableContactHeader, ModifiableBodyPair and ModifiableJacobianHeader)
    - BodyCustomTags
    - BodyIndices
    - ColliderKeys
    - Entities
  - ComponentExtensions.GetCenterOfMass()
  - ComponentExtensions.SetCenterOfMass()
  - ComponentExtensions.GetAngularVelocity()
  - ComponentExtensions.SetAngularVelocity()
  - EndFramePhysicsSystem.HandlesToWaitFor
  - FinalJobHandle on all core physics systems (BuildPhysicsWorld, StepPhysicsWorld, ExportPhysicsWorld and EndFramePhysicsSystem)
  - Joint.JointData
  - JointData
  - JointFrame
  - Material.IsTrigger
  - Material.EnableCollisionEvents
  - MotionData.GravityFactor
  - PhysicsJoint.JointData
  - PhysicsJoint.EntityA
  - PhysicsJoint.EntityB
  - PhysicsJoint.EnableCollision
  - SimulationContext.Reset() passing PhysicsWorld
  - Solver.ApplyGravityAndCopyInputVelocities() passing NativeArray<MotionData>
  - Solver.SolveJacobians() not passing explicit StabilizationData
- Added JointType.LimitedDegreeOfFreedom and associated creation and control functions
- Added Aabb.Intersect() function
- Added PhysicsComponentExtensions.GetEffectiveMass()
Authoring/Conversion API
- Removed the following expired members/types:
  - LegacyJointConversionSystem (now internal)
  - PhysicsMaterialTemplate.IsTrigger
  - PhysicsMaterialTemplate.RaisesCollisionEvents
  - PhysicsShapeAuthoring.IsTrigger and OverrideIsTrigger
  - PhysicsShapeAuthoring.RaisesCollisionEvents and OverrideRaisesCollisionEvents
- Added the following new types:
  - BodySmoothing enum
- Added the following new members:
  - PhysicsBodyAuthoring.Smoothing, to enable motion smoothing
- PhysicsBodyAuthoring.LinearDamping and AngularDamping setters now clamp incoming values to be at least 0.
Run-Time Behavior
- Debug rendering is now significantly faster, in the case of 3D lines.
- Physics systems now update in the FixedStepSimulationSystemGroup.
Authoring/Conversion Behavior
- Classic Rigidbody interpolation mode is now supported during conversion.
- Inspector help button for built-in authoring components and assets now opens the corresponding page in the API reference.

Fixes

Fixed issue where orientation in Physics Shape component would get dirtied when nothing changed
Fixed issue with PhysicsJoint.CreateHinge() only working on a single axes.
Fixed Constraint.Dimension not returning 0 when it should.
Reduced size of compound collider/mesh collider AABB in cases where their bodies are rotated by some angle.
Added optional integrity checks for physics ECS data consistency between BuildPhysicsWorld and ExportPhysicsWorld. Checks can be run in editor only.
Fixed regression that caused additional sub-meshes to be ignored when converting mesh colliders.

Known Issues

Physics debug display may not work properly while stepping frame by frame in Editor.

[0.4.1-preview] - 2020-07-28

Changes

Run-Time API
- Added the following members:
  - FloatRange.Mid
  - AABB.ClosestPoint
- Changed the following members/types:
  - All systems now inherit SystemBase instead of ComponentSystem.

Fixes

When using Unity 2020.1.0b13 or newer, it is now possible to convert mesh colliders inside of sub-scenes when their input meshes do not have read/write enabled. Meshes converted at run-time must still have read/write enabled.
Stopped emitting warning messages about physics material properties being upgraded when creating new objects from editor scripts.
Fixed warnings from exceptions thrown in Bursted code paths when using Burst 1.4.0.
Fixed issue with static layer not being rebuilt when order of entities in chunk changes.
Fixed issue with invalid colliders with empty AABB breaking bounding volume hierarchy and making objects "disappear" from the world.
Fixed an editor crash when maximum level of composite collider nesting is breached.

[0.4.0-preview.5] - 2020-06-18

Upgrade guide

RigidBody queries may no longer work, since they required inputs to be transformed to body space. As of this release, body queries require input in world space.
Core physics systems now expose AddInputDependency() and GetOutputDependency() methods for user code to be able to plug in user systems between any of the core physics systems (BuildPhysicsWorld, StepPhysicsWorld, ExportPhysicsWorld and EndFramePhysicsSystem).
The serialization layout has changed for PhysicsShapeAuthoring and PhysicsMaterialTemplate. Because data are upgraded before Prefab overrides are applied, you must manually re-apply any Prefab overrides that existed on scene objects, nested Prefabs, or Prefab variants for the migrated properties. It is recommended you use the data upgrade utility under the menu item Window -> DOTS -> Physics -> Upgrade Data.
- m_IsTrigger and m_RaisesCollisionEvents have been replaced with m_CollisionResponse.
- m_BelongsTo has been replaced with m_BelongsToCategories
- m_CollidesWith has been replaced with m_CollidesWithCategories
- m_CustomTags has been replaced with m_CustomMaterialTags

Changes

Dependencies
- Updated minimum Unity Editor version from 2019.3.0f1 to 2019.4.0f1
- Updated Burst from 1.3.0-preview.7 to 1.3.0
- Updated Collections from 0.7.1-preview.3 to 0.9.0-preview.6
- Updated Entities from 0.9.0-preview.6 to 0.11.1-preview.4
- Updated Jobs from 0.2.8-preview.3 to 0.2.10-preview.12
- Updated Performance Testing API from 1.3.3-preview to 2.0.8-preview
Run-Time API
- Added the following new types:
  - BuildPhysicsWorld.CollisionWorldProxyGroup
  - CollisionResponsePolicy (introduces a new value, None, which allows a shape to move and participate in queries, without generating a collision response or overlap events)
  - CollisionWorldProxy to synchronize CollisionWorld with data flow graph node sets
  - ColliderCastNode to perform queries in a data flow graph node
  - ForceMode to use with extension methods analogous to those used with classic Rigidbody
  - JointComponentExtensions for use with PhysicsJoint
  - JointType to serve as a hint to code modifying joint limits
  - PhysicsExclude to easily exclude bodies from physics temporarily
  - PhysicsMassOverride to easily make dynamic bodies enter and exit a kinematic state
  - PhysicsConstrainedBodyPair
  - PhysicsJointCompanion to keep track of sets of joints used to stabilize complex joint configurations
  - RaycastNode to perform queries in a data flow graph node
  - Solver.StabilizationData
  - Solver.StabilizationHeuristicSettings
- Added the following members:
  - ComponentExtensions.ApplyExplosionForce() equivalent to classic Rigidbody.ApplyExplosionForce() method.
  - ComponentExtensions.GetImpulseFromForce() to map ForceMode variants to impulses.
  - FloatRange.Sorted() to ensure Min is not larger than Max.
  - PhysicsStep.SolverStabilizationHeuristicSettings to enable and configure solver stabilization heuristic. This can improve behavior in stacking scenarios, as well as overall stability of bodies and piles, but may result in behavior artifacts. It is off by default to avoid breaking existing behavior. Setting it to true enables the heuristic and its default parameters.
  - PhysicsStep.SynchronizeCollisionWorld to enable rebuild of the dynamic bodies bounding volume hierarchy after the step. This enables precise query results before the next BuildPhysicsWorld update call. Note that BuildPhysicsWorld will do this work on the following frame anyway, so only use this option when another system must know about the results of the simulation before the end of the frame (e.g., to destroy or create some other body that must be present in the following frame). In most cases, tolerating a frame of latency is easier to work with and is better for performance.
  - PhysicsVelocity.CalculateVelocityToTarget() to move kinematic bodies to desired target locations without teleporting them.
  - SurfaceConstraintInfo.IsMaxSlope
  - Implemented ToString() on some types
    - ColliderCastHit
    - ColliderCastInput
    - ColliderKey
    - RaycastHit
    - RaycastInput
- Renamed the following members/type:
  - BodyAIndex and BodyBIndex are now BodyIndexA and BodyIndexB across the codebase for consistency.
  - ComponentExtensions.GetAngularVelocity() and SetAngularVelocity() are now GetAngularVelocityWorldSpace() and SetAngularVelocityWorldSpace(), respectively.
  - ComponentExtensions.GetCenterOfMass() and SetCenterOfMass() are now GetCenterOfMassWorldSpace() and SetCenterOfMassWorldSpace().
  - JointFrame is now BodyFrame
- Changed the following members/types:
  - Replaced all usages of NativeSlice with NativeArray.
  - Replaced pair interfaces on events and modifiers (CollisionEvent, TriggerEvent, ModifiableContactHeader, ModifiableBodyPair and ModifiableJacobianHeader) with direct accessors:
    - EntityPair is now EntityA and EntityB
    - BodyIndexPair is now BodyAIndex and BodyBIndex
    - ColliderKeyPair is now ColliderKeyA and ColliderKeyB
    - CustomTagsPair is now CustomTagsA and CustomTagsB
  - Material.MaterialFlags is now internal. Access flags through individual properties (CollisionResponse, EnableMassFactors and EnableSurfaceVelocity).
  - Joint is now a fixed size.
    - Joint.EnableCollision is now byte instead of int.
    - Joint.JointData has been deprecated. Use AFromJoint, BFromJoint, Constraints, and Version instead.
  - PhysicsJoint is now mutable.
  - PhysicsJoint.CreatePrismatic() factory does not take a distanceFromAxis parameter (in contrast to JointData factory)
  - PhysicsJoint.CreateRagdoll() factory now takes perpendicular angular limits in the range (-pi/2, pi/2) instead of (0, pi) in old JointData factory.
- Deprecated the following members/types:
  - EndFramePhysicsSystem.HandlesToWaitFor (use AddInputDependency() instead).
  - FinalJobHandle on all core physics systems (BuildPhysicsWorld, StepPhysicsWorld, ExportPhysicsWorld and EndFramePhysicsSystem) (use GetOutputDependency() instead).
  - JointData
  - Material.IsTrigger (use CollisionResponse instead)
  - Material.EnableCollisionEvents (use CollisionResponse instead)
  - PhysicsJoint.EntityA (now defined on PhysicsConstrainedBodyPair)
  - PhysicsJoint.EntityB (now defined on PhysicsConstrainedBodyPair)
  - PhysicsJoint.EnableCollision (now defined on PhysicsConstrainedBodyPair)
  - PhysicsJoint.JointData (use BodyAFromJoint, BodyBFromJoint, and GetConstraints()/SetConstraints() instead).
  - SimulationContext.Reset() passing PhysicsWorld (use signature passing SimulationStepInput instead).
- Removed the following members/types:
  - CollisionFilter.IsValid
  - CollisionWorld.ScheduleUpdateDynamicLayer()
  - Constraint factory signatures passing float values for ranges:
    - Cone()
    - Cylindrical()
    - Planar()
    - Twist()
  - ISimulation.ScheduleStepJobs() signature without callbacks and thread count hint (as well as all implementations)
  - JointData factory signatures passing float3 and quaternion pairs for joint frames, as well as Constraint[]:
    - CreateFixed()
    - CreateHinge()
    - CreateLimitedHinge()
    - CreatePrismatic()
    - CreateRagdoll()
  - MassFactors.InvInertiaAndMassFactorA
  - MassFactors.InvInertiaAndMassFactorB
  - MotionData.GravityFactor (use MotionVelocity.GravityFactor instead)
  - MotionVelocity.InverseInertiaAndMass
  - RigidBody.HasCollider
  - SimplexSolver.Solve() signature passing PhysicsWorld
  - SimulationStepInput.ThreadCountHint
Authoring/Conversion API
- Added the following types
  - BeginJointConversionSystem
  - EndJointConversionSystem (allows other conversion systems to find joint entities created during conversion)
  - PhysicsMaterialTemplate.CollisionResponse
  - PhysicsShapeAuthoring.CollisionResponse
  - PhysicsShapeAuthoring.OverrideCollisionResponse
- Added the following members
  - PhysicsStepAuthoring.EnableSolverStabilizationHeuristic to enable solver stabilization heuristic with default settings
  - PhysicsStepAuthoring.SynchronizeCollisionWorld
- Deprecated the following members/types:
  - LegacyJointConversionSystem has been marked obsolete and will be made internal in the future. Use BeginJointConversionSystem and EndJointConversionSystem to schedule system updates as needed.
  - PhysicsMaterialTemplate.IsTrigger (use CollisionResponse property instead)
  - PhysicsMaterialTemplate.RaisesCollisionEvents (use CollisionResponse property instead)
  - PhysicsShapeAuthoring.IsTrigger (use CollisionResponse property instead)
  - PhysicsShapeAuthoring.RaisesCollisionEvents (use CollisionResponse property instead)
  - PhysicsShapeAuthoring.OverrideIsTrigger (use OverrideCollisionResponse property instead)
  - PhysicsShapeAuthoring.OverrideRaisesCollisionEvents (use OverrideCollisionResponse property instead)
- Removed the following expired members:
  - LegacyColliderConversionSystem.ProduceMaterial() (removed without expiration; class is not intended to be sub-classed outside the package)
  - PhysicsShapeAuthoring.GetCapsuleProperties() signature returning CapsuleGeometry
  - PhysicsShapeAuthoring.SetCapsule() signature passing CapsuleGeometry
Run-Time Behavior
- BuildPhysicsWorld.JointEntityGroup now requires both a PhysicsJoint and PhysicsConstrainedBodyPair component.
- Constraint factory methods taking a FloatRange swizzle the input value if needed to ensure that Min cannot be greater than Max.
- RigidBody queries (Raycast(), ColliderCast(), PointDistance(), and ColliderDistance()) now use world space input, and provide world space output, instead of using body space.
Authoring/Conversion Behavior
- It is now possible to create a compound collider by adding multiple PhysicsShapeAuthoring components to a single GameObject.
- It is now possible to convert a GameObject with multiple Joint components on it.

Fixes

When using Unity 2019.3.1f1 and newer, making changes to a PhysicsMaterialTemplate asset or a Mesh asset will now trigger a reimport of any sub-scenes containing shapes that reference it.
IBodyPairsJob now skips all joint pairs, when previously it didn't skip the joint pair if it was the first one in the list.
Fixed the issue of the CompoundCollider with no colliding children (all children are triggers) having invalid mass properties.
Fixed a potential race condition when SynchronizeCollisionWorld was set to true in the SimulationStepInput.
CollisionFilter and Advanced material properties in the Inspector can now be expanded by clicking the label.

[0.3.2-preview] - 2020-04-16

Upgrade guide

All PhysicsShapeAuthoring components that were newly added after version 0.3.0 were incorrectly initialized to have a bevel radius of 0. It is recommended that you audit recently authored content to assign reasonable non-zero values.

Changes

Dependencies
- Updated Collections from 0.5.2-preview.8 to 0.7.1-preview.3
- Updated Entities from 0.6.0-preview.24 to 0.9.0-preview.6
- Updated Jobs from 0.2.5-preview.20 to 0.2.8-preview.3
Run-Time Behavior
- In order to test gameplay end to end determinism users should:
  - Navigate to UnityPhysicsEndToEndDeterminismTest.cs (and HavokPhysicsEndToEndDeterminsmTest.cs if using HavokPhysics)
  - Remove #if !UNITY_EDITOR guards around [TestFixture] and [UnityTest] attributes (alternatively, users can run the tests in standalone mode without the need to remove #ifs)
  - Add scene that needs to be tested (File -> Build Settings -> Add Open Scenes)
  - Make sure that synchronous burst is enabled
  - Run the test in Test Runner
Authoring/Conversion Behavior
- Compound conversion system is now deterministic between runs.

Fixes

Volume of dynamic meshes is now being approximated with the volume of the mesh AABB, as opposed to previously being set to 0.
Fixed regression causing newly added PhysicsShapeAuthoring components to initialize with a bevel radius of 0.

Known Issues

[0.3.1-preview] - 2020-03-19

Upgrade guide

User implemented query collectors (ICollector<T>) may no longer work. The reason is that ICollector<T>.TransformNewHits() was removed. To get the collectors working again, move all logic from ICollector<T>.TransformNewHits() to ICollector<T>.AddHit(). All the information is now available in ICollector<T>.AddHit(). Also, IQueryResult.Transform() was removed, and user implementations of it will not get called anywhere in the engine.

Changes

Dependencies
- Updated Burst from 1.3.0-preview.3 to 1.3.0-preview.7
Run-Time API
- The following properties are added to IQueryResult interface:
  - RigidBodyIndex
  - ColliderKey
  - Entity
- ICollector.AddHit() now has all the information ready to perform custom logic, instead of waiting for TransformNewHits().
- Removed Transform() from IQueryResult interface and from all its implementations.
- Removed both TransformNewHits() methods from ICollector interface and from all its implementations. All the information is now ready in ICollector.AddHit().

Fixes

Setting Collider.Filter now increments the header version so that the simulation backends can recognise the change.
Asking for collision/trigger events in scenes with no dynamic bodies no longer throws errors.
Updated to new version of Burst, which fixes a regression that caused ConvexCollider.Create() to produce hulls with a very small bevel radius.
DOTS Run-time failures due to multiple inheritance of jobs have now been fixed.
Changed Math.IsNormalized to use a larger tolerance when comparing float3 length.

[0.3.0-preview.1] - 2020-03-12

Upgrade guide

In order to lead to more predictable behavior and allow for repositioning instantiated prefabs, static bodies are no longer un-parented during conversion. For best performance and guaranteed up-to-date values, it is still recommended that static bodies either be root-level entities, or that static shapes be set up as compounds. Dynamic and kinematic bodies are still un-parented. If your game code assumes static bodies are converted into world space, you may need to decompose LocalToWorld using Math.DecomposeRigidBodyTransform() rather than reading directly from Translation and Rotation.

Changes

Dependencies
- Updated Entities from 0.3.0-preview.4 to 0.6.0-preview.24
- Added Burst 1.3.0-preview.3
- Added Collections 0.5.2-preview.8
- Added Jobs 0.2.5-preview.20
- Added Mathematics 1.1.0
Run-Time API
- Added the following new types:
  - CollisionEvents (allows iterating through events directly using a foreach loop, rather than only via ICollisionEventsJob)
  - DispatchPairSequencer
  - IBodyPairsJobBase
  - ICollisionEventsJobBase
  - IContactsJobBase
  - IJacobiansJobBase
  - ITriggerEventsJobBase
  - Integrator
  - JointFrame
  - Math.FloatRange
  - NarrowPhase
  - SimulationContext
  - SimulationJobHandles
  - Solver
  - TriggerEvents (allows iterating through events directly using a foreach loop, rather than only via ITriggerEventsJob)
  - Velocity
- Added the following members:
  - CollisionWorld.DynamicBodies
  - CollisionWorld.NumDynamicBodies
  - CollisionWorld.NumStaticBodies
  - CollisionWorld.StaticBodies
  - CollisionWorld.BuildBroadphase()
  - CollisionWorld.FindOverlaps()
  - CollisionWorld.Reset()
  - CollisionWorld.ScheduleBuildBroadphaseJobs()
  - CollisionWorld.ScheduleFindOverlapsJobs()
  - CollisionWorld.ScheduleUpdateDynamicTree()
  - CollisionWorld.UpdateDynamicTree()
  - DynamicsWorld.Reset()
  - Math.DecomposeRigidBodyOrientation()
  - Math.DecomposeRigidBodyTransform()
  - MassFactors.InverseInertiaFactorA
  - MassFactors.InverseInertiaFactorB
  - MassFactors.InverseMassFactorA
  - MassFactors.InverseMassFactorB
  - MotionVelocity.InverseInertia
  - MotionVelocity.InverseMass
  - Simulation.CollisionEvents
  - Simulation.TriggerEvents
  - Simulation.StepImmediate()
- Changed the following members/types:
  - CollisionWorld constructor now requires specifying the number of dynamic and static bodies separately
  - CollisionWorld.NumBodies is now read-only
  - DynamicsWorld.NumJoints is now read-only
  - DynamicsWorld.NumMotions is now read-only
  - ISimulation.ScheduleStepJobs() now requires callbacks and thread count hint
  - ITreeOverlapCollector.AddPairs() now has optional bool parameter to swap the bodies
  - Joint.JointData is now BlobAssetReference<Joint> instead of Joint*
  - RigidBody.Collider is now BlobAssetReference<Collider> instead of Collider*
  - The following types no longer implement ICloneable. Their Clone() methods now return instances of their respective types rather than object:
    - CollisionWorld
    - DynamicsWorld
    - PhysicsWorld
  - The following types now implement IEquatable<T>:
    - Constraint
- Deprecated the following members:
  - CollisionFilter.IsValid (use its opposite, CollisionFilter.IsEmpty instead)
  - CollisionWorld.ScheduleUpdateDynamicLayer() (use ScheduleUpdateDynamicTree() instead)
  - Constraint.StiffSpring() (use Constraint.LimitedDistance() instead)
  - Constraint factory signatures passing float values for ranges (use new signatures taking FloatRange instead):
    - Cone()
    - Cylindrical()
    - Planar()
    - Twist()
  - JointData.Create() signature passing MTransform and Constraint[] (use new signature that takes JointFrame and NativeArray<Constraint> instead)
  - JointData.CreateStiffSpring() (use JointData.CreateLimitedDistance() instead)
  - JointData factory signatures passing float3 and quaternion pairs for joint frames (use new signatures taking JointFrame instead):
    - CreateFixed()
    - CreateHinge()
    - CreateLimitedHinge()
    - CreatePrismatic()
    - CreateRagdoll()
  - MassFactors.InvInertiaAndMassFactorA (use InverseInertiaFactorA and/or InverseMassFactorA instead)
  - MassFactors.InvInertiaAndMassFactorB (use InverseInertiaFactorB and/or InverseMassFactorB instead)
  - MotionVelocity.InverseInertiaAndMass (use InverseInertia and/or InverseMass instead)
  - RigidBody.HasCollider (use Collider.IsCreated instead)
  - SimplexSolver.Solve() signature passing PhysicsWorld (use new signature that does not require one, as it is not used)
  - SimulationStepInput.ThreadCountHint (supply desired value directly to ScheduleStepJobs())
- Removed the following expired members:
  - Broadphase.ScheduleBuildJobs() signature that does not specify gravity
  - CollisionWorld.ScheduleUpdateDynamicLayer() signature that does not specify gravity
  - JointData.NumConstraints
  - MeshCollider.Create() signatures taking NativeArray<int>
  - PhysicsWorld.CollisionTolerance
  - SimplexSolver.Solve() signature taking NativeArray<SurfaceConstraintInfo>
  - SimulationStepInput.Callbacks (removed without expiration; pass callbacks to ScheduleStepJobs())
Authoring/Conversion API
- Added the following new types:
  - LegacyJointConversionSystem
  - CapsuleGeometryAuthoring
- Added the following members:
  - PhysicsShapeAuthoring.GetCapsuleProperties() signature returning CapsuleGeometryAuthoring
  - PhysicsShapeAuthoring.SetCapsule() signature passing CapsuleGeometryAuthoring
- Deprecated the following members:
  - PhysicsShapeAuthoring.GetCapsuleProperties() signature returning CapsuleGeometry
  - PhysicsShapeAuthoring.SetCapsule() signature passing CapsuleGeometry
- Removed the following expired members/types:
  - BaseShapeConversionSystem<T>.ProduceColliderBlob()
  - DisplayCollisionEventsSystem.DisplayCollisionEventsJob
  - DisplayCollisionEventsSystem.FinishDisplayCollisionEventsJob
  - DisplayCollisionEventsSystem.ScheduleCollisionEventsJob()
  - DisplayContactsSystem.DisplayContactsJob
  - DisplayContactsSystem.FinishDisplayContactsJob
  - DisplayContactsSystem.ScheduleContactsJob()
  - DisplayTriggerEventsSystem.DisplayTriggerEventsJob
  - DisplayTriggerEventsSystem.FinishDisplayTriggerEventsJob
  - DisplayTriggerEventsSystem.ScheduleTriggerEventsJob()
  - PhysicsShapeAuthoring.GetMeshProperties() using NativeList<int>. Use the signature taking NativeList<int3> instead
Run-Time Behavior
- The data protocol for static rigid bodies has changed so that at least one of Translation, Rotation, or LocalToWorld is required.
  - If a static body as a Parent, then its transform is always decomposed from its LocalToWorld component (which may be the result of last frame's transformations if you have not manually updated it).
  - If there is no Parent, then the body is assumed to be in world space and its Translation and Rotation are read directly as before, if they exist; otherwise corresponding values are decomposed from LocalToWorld if it exists.
  - In any case where a value must be decomposed from LocalToWorld but none exists, then a corresponding identity value is used (float3.zero for Translation and quaternion.identity for Rotation).
- The following CollisionWorld queries no longer assert if the supplied collision filter is empty:
  - CalculateDistance()
  - CastCollider()
  - CastRay()
  - OverlapAabb()
- Simulation.ScheduleStepJobs() can now schedule different types of simulation:
  - Providing a valid threadCountHint (>0) as the last parameter will schedule a multi-threaded simulation
  - Not providing a threadCount or providing an invalid value (<=0) will result in a simulation with a very small number of jobs being spawned (one per step phase)
  - Both simulation types offer the exact same customization options (callbacks) and outputs (events)
- ISimulation.Step() is intended to allow you to step a simulation immediately in the calling code instead of spawning jobs
  - Unfortunately, Unity.Physics.Simulation is currently not Burst-compatible, and therefore can't be wrapped in a Burst compiled job
  - Simulation.StepImmediate() should be wrapped in a single Burst compiled job for lightweight stepping logic; however, it doesn't support callbacks
  - If callbacks are needed, one should implement the physics step using a set of function calls that represent different phases of the physics engine and add customization logic in between these calls; this should all be wrapped in a Burst compiled job; check Simulation.StepImmediate() for the full list of functions that need to be called
- Previously, if an Entity referenced by a PhysicsJoint component was deleted, BuildPhysicsWorld.CreateJoints() would assert after failing to find a valid rigid body index. Now, if no valid body is found, the Joint.BodyIndexPair is marked as invalid instead and the simulation will ignore them.
- Triggers no longer influence the center of mass or inertia of any compound colliders that they are part of.
Authoring/Conversion Behavior
- Implicitly static shapes (as well as explicitly static bodies) in a hierarchy are no longer un-parented during the conversion process. Dynamic and kinematic bodies still are.
- Bevel radius and convex hull simplification tolerance are no longer modified by an object's scale when it is converted.
- Improved performance of converting mesh colliders and convex hulls, particularly when they appear as multiple child instances in a compound collider.
- Improved visualization of primitive shapes in the SceneView.
- PhysicsShapeAuthoring components are now editable from within the SceneView.
- PhysicsShapeAuthoring primitives are now oriented more correctly when non uniformly scaled.

Fixes

Fixed regression where displaying a mesh or convex hull preview on a shape authoring component immediately after a domain reload would trigger an assert.
Fixed possible bug where classic MeshCollider components might convert to the incorrect shape.
Frame Selected (F key in scene view) now properly focuses on the collision shape bounds.
ConvexCollider.Create() had been allocating too much memory for FaceVerticesIndex array.
MotionVelocity.CalculateExpansion() formula changed to reduce expansion of AABB due to rotation.
ForceUnique checkbox in the Inspector is no longer disabled for primitive PhysicsShape types.
Fixed a bug in scheduling resulting in race conditions during the solving phase.
PhysicsStepAuthoring and PhysicsDebugDisplayAuthoring no longer throw exceptions when embedded in a sub-scene.

Known Issues

Due to a bug in the TRSToLocalToParent system, static bodies in a hierarchy will always cause the broad phase to be rebuilt. This will be fixed in the next version of entities after 0.6.0.
Not all properties on classic joint components are converted yet:
- Converted properties include connected bodies, axes, collisions, anchors, and linear/angular limits.
- Motors, spring forces, mass scale, break limits, and projection settings are currently ignored.
- Swapping bodies on ConfigurableJoint is not yet supported.
- ConfigurableJoint setups with at least one free axis of angular motion are only stable if both other axes are locked (hinge), or both other axes are free (ball-and-socket).
- Because solver behavior differs, some configurations also currently have a different feel from their classic counterparts.
Modifying classic joints with Live Link enabled will currently leak memory.
SceneView editing of PhysicsShapeAuthoring components currently only affects their size, but not their center offset.

[0.2.5-preview.1] - 2019-12-05

Fixes

Fixed a bug that could cause compound colliders to not update with Live Link when moving around a mesh collider in the compound's hierarchy.
Fixed possible incorrect instancing of colliders with different inputs

[0.2.5-preview] - 2019-12-04

Upgrade guide

By default, PhysicsColliders that share the same set of inputs and that originate from the same sub-scene should reference the same data at run-time. This change not only reduces memory pressure, but also speeds up conversion. If you were altering PhysicsCollider data at run-time, you need to enable the ForceUnique setting on the respective PhysicsColliderAuthoring component. This setting guarantees the object will always convert into a unique instance.
Any usages of BlockStream should be replaced with the NativeStream type from the com.unity.collections package.

Changes

Run-Time API
- Removed BlockStream and migrated all usages to NativeSteam.
- Access to JointData.Constraints has changed to an indexer. This means that to change the values of a Constraint, a copy should be made first. E.g., c# var c = JointData.Constraints[index]; c.Min = 0; JointData.Constraints[index] = c;
- Added maxVelocity parameter to SimplexSolver.Solve() to clamp the solving results to the maximum value.
- Added SurfaceConstraintInfo.IsTooSteep to indicate that a particular surface constraint has a slope bigger than the slope character controller supports.
- MeshCollider.Create() now takes grouped triangle indices (NativeArray) instead of a flat list of indices (NativeArray) as input.
- Removed the following expired members/types:
  - BoxCollider.ConvexRadius (renamed to BevelRadius)
  - CyllinderCollider.ConvexRadius (renamed to BevelRadius)
  - Collider factory methods passing nullable types and numeric primitives:
    - BoxCollider.Create()
    - CyllinderCollider.Create()
    - CapsuleCollider.Create()
    - ConvexCollider.Create()
    - MeshCollider.Create()
    - PolygonCollider.CreateQuad()
    - PolygonCollider.CreateTriangle()
    - SphereCollider.Create()
    - TerrainCollider.Create()
  - ComponentExtensions members passing Entity (use components or variants passing component data instead):
    - ApplyAngularImpulse()
    - ApplyImpulse()
    - ApplyLinearImpulse()
    - GetAngularVelocity()
    - GetCenterOfMass()
    - GetCollisionFilter()
    - GetEffectiveMass()
    - GetLinearVelocity()
    - GetMass()
    - GetPosition()
    - GetRotation()
    - GetVelocities()
    - SetAngularVelocity()
    - SetLinearVelocity()
    - SetVelocities()
  - CustomDataPair
  - ISimulation.ScheduleStepJobs()
  - JacobianFlags.EnableEnableMaxImpulse
  - MaterialFlags.EnableMaxImpulse
  - ModifiableContactHeader.BodyCustomDatas
  - ModifiableJacobianHeader.HasMaxImpulse
  - ModifiableJacobianHeader.MaxImpulse
  - ModifiableContactJacobian.CoefficientOfRestitution
  - ModifiableContactJacobian.FrictionEffectiveMassOffDiag
  - PhysicsCustomData
  - SimplexSolver.c_SimplexSolverEpsilon
  - SimplexSolver.Solve() without minDeltaTime parameter
Authoring/Conversion API
- Added PhysicsShapeAuthoring.ForceUnique.
- Added the following conversion systems:
  - BeginColliderConversionSystem
  - BuildCompoundCollidersConversionSystem
  - EndColliderConversionSystem
- PhysicsShapeAuthoring.GetMeshProperties() now populates a NativeList<int3> for indices, instead of a NativeList<int>.
- The following public members have been made protected:
  - DisplayCollisionEventsSystem.FinishDisplayCollisionEventsJob
  - DisplayTriggerEventsSystem.FinishDisplayTriggerEventsJob
- Removed the following expired members/types:
  - BaseShapeConversionSystem<T>.GetCustomFlags()
  - DisplayCollidersSystem.DrawComponent
  - DisplayCollidersSystem.DrawComponent.DisplayResult
  - DisplayContactsJob
  - DisplayJointsJob
  - FinishDisplayContactsJob
  - PhysicsShapeAuthoring members:
    - SetConvexHull() passing only a mesh
    - GetMesh() replaced with GetMeshProperties
    - ConvexRadius replaced with BevelRadius
    - GetBoxProperties() returning void
    - SetBox() passing a box center, size and orientation. Pass BoxGeometry instead.
    - GetCapsuleProperties() returning void
    - SetCapsule() passing a capsule center, height, radius and orientation. Pass CapsuleGeometry instead.
    - GetCylinderProperties() returning void
    - SetCylinder() passing a cylinder center, height, radius and orientation. Pass CylinderGeometry instead.
    - GetSphereProperties() returning void
    - SetSphere() passing a sphere center, radius and orientation. Pass SphereGeometry instead.
  - The following components have been removed:
    - PhysicsBody (renamed to PhysicsBodyAuthoring)
    - PhysicsShape (renamed to PhysicsShapeAuthoring)
    - PhysicsStep (renamed to PhysicsStepAuthoring)
    - PhysicsDebugDisplay (renamed to PhysicsDebugDisplayAuthoring)
Run-Time Behavior
- CompoundCollider.Create() is now compatible with Burst.
- CompoundCollider.Create() now correctly shares memory among repeated instances in the list of children.
Authoring/Conversion Behavior
- If mesh and convex PhysicsShapeAuthoring components have not explicitly opted in to ForceUnique, they may share the same PhysicsCollider data at run-time, if their inputs are the same.
- Classic MeshCollider instances with the same inputs will always share the same data at run-time when converted in a sub-scene.
- Further improved performance of collider conversion for all types.

Fixes

JointData.Version was not being incremented with changes to its properties.
Fixed the issue of uninitialized array when scheduling collision event jobs with no dynamic bodies in the scene.
Fixed the issue of CollisionEvent.CalculateDetails() reporting 0 contact points in some cases.
Fixed the issue of joints with enabled collisions being solved after contacts for the same body pair.
Fixed exception and leak caused by trying to display a convex hull preview for a physics shape with no render mesh assigned.
Fixed bug causing incremental changes to a compound collider to accumulate ghost colliders when using Live Link.
Fixed an issue where kinematic (i.e. infinite mass dynamic) bodies did not write to the collision event stream correctly.

Known Issues

Compound collider mass properties are not correctly updated while editing using Live Link.

[0.2.4-preview] - 2019-09-19

Changes

Updated dependency on com.unity.entities to version 0.1.1-preview. If you need to stay on entities version 0.0.12-preview.33 then you can use the previous version of this package, 0.2.3-preview, which is feature equivalent:

[0.2.3-preview] - 2019-09-19

Upgrade guide

Implicitly static shapes (i.e. those without a PhysicsBodyAuthoring or Rigidbody) in a hierarchy under a GameObject with StaticOptimizeEntity are now converted into a single compound PhysicsCollider on the entity with the Static tag. If your queries or contact events need to know about data associated with the entities from which these leaf shapes were created, you need to explicitly add PhysicsBodyAuthoring components with static motion type, in order to prevent them from becoming part of the compound.

Changes

Run-Time API
- Deprecated Broadphase.ScheduleBuildJobs() and provided a new implementation that takes gravity as input.
- Deprecated CollisionWorld.ScheduleUpdateDynamicLayer() and provided a new implementation that takes gravity as input.
- Deprecated PhysicsWorld.CollisionTolerance and moved it to CollisionWorld.
- Deprecated ManifoldQueries.BodyBody() and provided a new implementation that takes two bodies and two velocities.
- Added CollisionEvent.CalculateDetails() which provides extra information about the collision event:
  - Estimated impulse
  - Estimated impact position
  - Array of contact point positions
- Removed CollisionEvent.AccumulatedImpulses and provided CollisionEvent.CalculateDetails() which gives a more reliable impulse value.
Authoring/Conversion API
- Removed the following expired ScriptableObject:
  - CustomFlagNames
- Removed the following expired members:
  - PhysicsShapeAuthoring.GetBelongsTo()
  - PhysicsShapeAuthoring.SetBelongsTo()
  - PhysicsShapeAuthoring.GetCollidesWith()
  - PhysicsShapeAuthoring.SetCollidesWith()
  - PhysicsShapeAuthoring.OverrideCustomFlags
  - PhysicsShapeAuthoring.CustomFlags
  - PhysicsShapeAuthoring.GetCustomFlag()
  - PhysicsShapeAuthoring.SetCustomFlag()
  - PhysicsMaterialTemplate.GetBelongsTo()
  - PhysicsMaterialTemplate.SetBelongsTo()
  - PhysicsMaterialTemplate.GetCollidesWith()
  - PhysicsMaterialTemplate.SetCollidesWith()
  - PhysicsMaterialTemplate.CustomFlags
  - PhysicsMaterialTemplate.GetCustomFlag()
  - PhysicsMaterialTemplate.SetCustomFlag()
Run-Time Behavior
- Gravity is now applied at the beginning of the step, as opposed to previously being applied at the end during integration.
Authoring/Conversion Behavior
- Implicitly static shapes in a hierarchy under a GameObject with StaticOptimizeEntity are now converted into a single compound PhysicsCollider.

Fixes

Fixed issues preventing compatibility with DOTS Runtime.
Fixed occasional tunneling of boxes through other boxes and mesh triangles.
Fixed incorrect AABB sweep direction during collisions with composite colliders, potentially allowing tunneling.
Fixed obsolete MeshCollider.Create() creating an empty mesh.
Fixed obsolete ConvexCollider.Create() resulting in infinite recursion.
Fixed simplex solver bug causing too high output velocities in 3D solve case.
Fixed bug causing custom meshes to be ignored on convex shapes when the shape's transform was bound to a skinned mesh.
Fixed Burst incompatibilities in the following types:
- BoxGeometry
- CapsuleGeometry
- CollisionFilter
- ConvexHullGenerationParameters
- CylinderGeometry
- Material
- SphereGeometry
Improved performance of MeshConnectivityBuilder.WeldVertices().
Fixed a potential assert when joints are created with a static and dynamic body (in that order).

Known Issues

[0.2.2-preview] - 2019-09-06

Fixes

Added internal API extensions to work around an API updater issue with Unity 2019.1 to provide a better upgrading experience.

[0.2.1-preview] - 2019-09-06

Upgrade guide

A few changes have been made to convex hulls that require double checking convex PhysicsShapeAuthoring components:
- Default parameters for generating convex hulls have been tweaked, which could result in minor differences.
- Bevel radius now applies a shrink to the shape rather than an expansion (as with primitive shape types).
Mesh PhysicsShapeAuthoring objects with no custom mesh assigned now include points from enabled mesh renderers on their children (like convex shapes). Double check any mesh shapes in your projects.
Due to a bug in version 0.2.0, any box colliders added to uniformly scaled objects had their scale baked into the box size parameter when initially added and/or when fit to render geometry. Double check box colliders on any uniformly scaled objects and update them as needed (usually by just re-fitting them to the render geometry).
The serialization layout of PhysicsShapeAuthoring has changed. Values previously saved in the m_ConvexRadius field will be migrated to m_ConvexHullGenerationParameters.m_BevelRadius, and a m_ConvexRadius_Deprecated field will then store a negative value to indicate the old data have been migrated. Because this happens automatically when objects are deserialized, prefab instances may mark this field dirty even if the prefab has already been migrated. Double check prefab overrides for Bevel Radius on your prefab instances.

Changes

Run-Time API
- Added the following new members:
  - BodyIndexPair.IsValid
  - Math.Dotxyz1() using double
  - Plane.Projection()
  - Plane.SignedDistanceToPoint()
- Added the following structs:
  - BoxGeometry
  - CapsuleGeometry
  - CylinderGeometry
  - SphereGeometry
  - ConvexHullGenerationParameters
- Constraint now implements IEquatable<Constraint> to avoid boxing allocations.
- All previous SphereCollider, CapsuleCollider, BoxCollider and CylinderCollider properties are now read only. A new Geometry property allows reading or writing all the properties at once.
- BoxCollider.Create() now uses BoxGeometry. The signature passing nullable types has been deprecated.
- CapsuleCollider.Create() now uses CapsuleGeometry. The signature passing nullable types has been deprecated.
- ConvexCollider.Create() now uses ConvexHullGenerationParameters. The signature passing nullable types has been deprecated.
- CylinderCollider.Create() now uses CylinderGeometry. The signature passing nullable types has been deprecated.
- MeshCollider.Create() now uses native containers. The signature using managed containers has been deprecated.
- PolygonCollider.CreateQuad() signature passing nullable types has been deprecated.
- PolygonCollider.CreateTriangle() signature passing nullable types has been deprecated.
- SphereCollider.Create() now uses SphereGeometry. The signature passing nullable types has been deprecated.
- TerrainCollider.Create() signature passing pointer and nullable types has been deprecated.
- SimplexSolver.Solve() taking the respectMinDeltaTime has been deprecated. Use the new SimplexSolver.Solve() method that takes minDeltaTime instead.
- Renamed BoxCollider.ConvexRadius to BevelRadius.
- Renamed CylinderCollider.ConvexRadius to BevelRadius.
- Deprecated SimplexSolver.c_SimplexSolverEpsilon.
- Deprecated the following methods in ComponentExtensions taking an Entity as the first argument.
  - GetCollisionFilter()
  - GetMass()
  - GetEffectiveMass()
  - GetCenterOfMass()
  - GetPosition()
  - GetRotation()
  - GetVelocities()
  - SetVelocities()
  - GetLinearVelocity()
  - SetLinearVelocity()
  - GetAngularVelocity()
  - SetAngularVelocity()
  - ApplyImpulse()
  - ApplyLinearImpulse()
  - ApplyAngularImpulse()
- Removed the following expired members:
  - ColliderCastInput.Direction
  - ColliderCastInput.Position
  - Ray(float3, float3)
  - Ray.Direction
  - Ray.ReciprocalDirection
  - RaycastInput.Direction
  - RaycastInput.Position
Authoring/Conversion API
- Renamed PhysicsBody to PhysicsBodyAuthoring.
- Renamed PhysicsShape to PhysicsShapeAuthoring.
- PhysicsShapeAuthoring.BevelRadius now returns the serialized bevel radius data in all cases, instead of returning the shape radius when the type was either sphere or capsule, or a value of 0 for meshes. Its setter now only clamps the value if the shape type is box or cylinder.
- PhysicsShapeAuthoring.GetBoxProperties() now returns BoxGeometry. The signature containing out parameters has been deprecated.
- PhysicsShapeAuthoring.SetBox() now uses BoxGeometry. The signature passing individual parameters has been deprecated.
- PhysicsShapeAuthoring.GetCapsuleProperties() now returns CapsuleGeometry. The signature containing out parameters has been deprecated.
- PhysicsShapeAuthoring.SetCapsule() now uses CapsuleGeometry. The signature passing individual parameters has been deprecated.
- PhysicsShapeAuthoring.GetCylinderGeometry() now returns CylinderGeometry. The signature containing out parameters has been deprecated.
- PhysicsShapeAuthoring.SetCylinder() now uses CylinderGeometry. The signature passing individual parameters has been deprecated.
- PhysicsShapeAuthoring.GetSphereProperties() now returns SphereGeometry. The signature containing out parameters has been deprecated.
- PhysicsShapeAuthoring.SetSphere() now uses SphereGeometry. The signature passing individual parameters has been deprecated.
- PhysicsShapeAuthoring.SetConvexHull() now uses ConvexHullGenerationParameters. The old signature has been deprecated.
- PhysicsShapeAuthoring.ConvexRadius has been deprecated. Instead use BevelRadius values returned by geometry structs.
- PhysicsShapeAuthoring.GetConvexHullProperties() now returns points from SkinnedMeshRenderer components that are bound to the shape's transform, or to the transforms of its children that are not children of some other shape, when no custom mesh has been assigned.
- Added PhysicsShapeAuthoring.SetConvexHull() signature specifying minimum skinned vertex weight for inclusion.
- Added PhysicsShapeAuthoring.ConvexHullGenerationParameters property.
- PhysicsShapeAuthoring.GetMesh() has been deprecated.
- Added PhysicsShapeAuthoring.GetMeshProperties(). When no custom mesh has been assigned, this will return mesh data from all render geometry in the shape's hierarchy, that are not children of some other shape.
- PhysicsShapeAuthoring.FitToEnabledRenderMeshes() now takes an optional parameter for specifying minimum skinned vertex weight for inclusion.
- Removed the OutputStream field from various deprecated debug drawing jobs. These will be redesigned in a future release, and you are advised to not try to extend them yet.
- Removed the following expired members:
  - PhysicsShapeAuthoring.FitToGeometry().
  - PhysicsShapeAuthoring.GetCapsuleProperties() returning raw points.
  - PhysicsShapeAuthoring.GetPlaneProperties() returning raw points.
  - FirstPassLegacyRigidbodyConversionSystem.
  - FirstPassPhysicsBodyConversionSystem.
  - SecondPassLegacyRigidbodyConversionSystem.
  - SecondPassPhysicsBodyConversionSystem.
Run-Time Behavior
- BoxCollider.Create() is now compatible with Burst.
- CapsuleCollider.Create() is now compatible with Burst.
- ConvexCollider.Create() is now compatible with Burst.
- CylinderCollider.Create() is now compatible with Burst.
- MeshCollider.Create() is now compatible with Burst.
- SphereCollider.Create() is now compatible with Burst.
- TerrainCollider.Create() is now compatible with Burst.
Authoring/Conversion Behavior
- Converting mesh and convex shapes is now several orders of magnitude faster.
- Convex meshes are more accurate and less prone to jitter.
- PhysicsShapeAuthoring components set to convex now display a wire frame preview at edit time.
- PhysicsShapeAuthoring components set to cylinder can now specify how many sides the generated hull should have.
- Inspector controls for physics categories, custom material tags, and custom body tags now have a final option to select and edit the corresponding naming asset.

Fixes

Body hierarchies with multiple shape types (e.g., classic collider types and PhysicsShapeAuthoring) now produce a single flat CompoundCollider tree, instead of a tree with several CompoundCollider leaves.
Fixed issues causing dynamic objects to tunnel through thin static objects (most likely meshes)
Fixed incorrect behavior of Constraint.Twist() with limitedAxis != 0
Fixed regression introduced in 0.2.0 causing box shapes on uniformly scaled objects to always convert into a box with size 1 on all sides.
Fixed exception when calling Dispose() on an uninitialized CollisionWorld.

Known Issues

Wire frame previews for convex PhysicsShapeAuthoring components can take a while to generate.
Wire frame previews for convex PhysicsShapeAuthoring components do not currently illustrate effects of bevel radius in the same way as primitives.
The first time you convert convex or mesh shapes in the Editor after a domain reload, you will notice a delay while the conversion jobs are Burst compiled. all subsequent conversions should be significantly faster until the next domain reload.
Updated dependency on com.unity.burst to version 1.1.2.

[0.2.0-preview] - 2019-07-18

Upgrade guide

If you created per-body custom data using PhysicsShape.CustomFlags then you should instead do it using PhysicsBody.CustomTags.
Some public API points were removed, either because they were not intended to be public or because they introduce other problems (see Changes below).
- Some of these API points may later be reintroduced on a case-by-case basis to enable customization for advanced use cases. Please provide feedback on the forums if these removals have affected current use cases so we can prioritize them.
Some public API points were replaced with another one in a way that cannot be handled by the script updater, so they must be manually fixed in your own code (see Changes below).
All public types in test assemblies were never intended to be public and have been made internal.
Some properties on PhysicsMaterialTemplate and PhysicsShape now return PhysicsCategoryTags instead of int. Use its Value property if you need to get/set a raw int value (see Changes below).

Changes

Run-Time API
- Added first draft of a new TerrainCollider struct. Terrain geometry is defined by a height field. It requires less memory than an equivalent mesh and is faster to query. It also offers a fast, low-quality option for collision detection.
  - Added ColliderType.Terrain.
  - Added CollisionType.Terrain.
  - Added DistanceQueries.ConvexTerrain<T>().
  - Added DistanceQueries.PointTerrain<T>().
- Shapes and bodies how have their own separate custom data.
  - Added Material.CustomTags (for shapes).
  - Replaced PhysicsCustomData with PhysicsCustomTags (for bodies).
  - Replaced ContactHeader.BodyCustomDatas with ContactHeader.BodyCustomTags.
  - Replaced CustomDataPair with CustomTagsPair.
  - Replaced RigidBody.CustomData with RigidBody.CustomTags.
- Removed coefficient of restitution concept from Jacobians. All restitution calculations are approximated and applied before the solve, so restitution changes at this point in the simulation have no effect.
  - ModifiableContactJacobian.CoefficientOfRestitution is now obsolete.
- ModifiableContactJacobian.FrictionEffectiveMassOffDiag is now obsolete. It was not possible to make any meaningful changes to it without fully understanding friction solving internals.
- Removed max impulse concept from Jacobians. Solver design implies impulses are pretty unpredictable, making it difficult to choose maximum impulse value in practice.
  - JacobianFlags.EnableMaxImpulse is now obsolete.
    - Underlying values of JacobianFlags have been changed.
    - Added JacobianFlags.UserFlag2.
  - Material.EnableMaxImpulse is now obsolete.
  - MaterialFlags.EnableMaxImpulse is now obsolete.
  - ModifiableJacobianHeader.HasMaxImpulse is now obsolete.
  - ModifiableJacobianHeader.MaxImpulse is now obsolete.
- Removed the following members:
  - CollisionFilter.CategoryBits
  - CollisionFilter.MaskBits
- Removed the following types from public API and made them internal:
  - AngularLimit1DJacobian
  - AngularLimit2DJacobian
  - AngularLimit3DJacobian
  - BaseContactJacobian
  - BoundingVolumeHierarchy.BuildBranchesJob
  - BoundingVolumeHierarchy.BuildFirstNLevelsJob
  - BoundingVolumeHierarchy.FinalizeTreeJob
  - Broadphase
  - ColliderCastQueries
  - CollisionEvent
  - CollisionEvents
  - ContactHeader
  - ContactJacobian
  - ConvexConvexDistanceQueries
  - ConvexHull
  - ConvexHullBuilder
  - ConvexHullBuilderExtensions
  - DistanceQueries
  - ElementPool<T> (Unity.Collections)
  - Integrator
  - IPoolElement (Unity.Collections)
  - JacobianHeader
  - JacobianIterator
  - JacobianUtilities
  - LinearLimitJacobian
  - ManifoldQueries
  - Mesh
  - MotionExpansion
  - NarrowPhase
  - OverlapQueries
  - QueryWrappers
  - RaycastQueries
  - Scheduler
  - Simulation.Context
  - Solver
  - StaticLayerChangeInfo
  - TriggerEvent
  - TriggerEvents
  - TriggerJacobian
- Removed the following members from public API and made them internal:
  - Aabb.CreateFromPoints(float3x4)
  - BoundingVolumeHierarchy.BuildBranch()
  - BoundingVolumeHierarchy.BuildCombinedCollisionFilter()
  - BoundingVolumeHierarchy.BuildFirstNLevels()
  - BoundingVolumeHierarchy.CheckIntegrity()
  - All explicit ChildCollider constructors
  - ColliderKeyPath(ColliderKey, uint)
  - ColliderKeyPath.Empty
  - ColliderKeyPath.GetLeafKey()
  - ColliderKeyPath.PopChildKey()
  - ColliderKeyPath.PushChildKey()
  - CollisionWorld.Broadphase
  - CompoundCollider.BoundingVolumeHierarchy
  - Constraint.ConstrainedAxis1D
  - Constraint.Dimension
  - Constraint.FreeAxis2D
  - ConvexCollider.ConvexHull
  - MeshCollider.Mesh
  - MotionVelocity.CalculateExpansion()
  - SimulationCallbacks.Any()
  - SimulationCallbacks.Execute()
- ChildCollider.TransformFromChild is now a readonly property instead of a field.
- Removed BuildPhysicsWorld.m_StaticLayerChangeInfo.
- Added FourTranposedAabbs.DistanceFromPointSquared() signatures passing scale parameter.
- Changed ISimulation interface (i.e. Simulation class).
  - Added ISimulation.FinalJobJandle.
  - Added ISimulation.FinalSimulationJobJandle.
  - Added simpler ISimulation.ScheduleStepJobs() signature and marked previous one obsolete.
- Added RigidBody.HasCollider.
- SimplexSolver.Solve() now takes an optional bool to specify whether it should respect minimum delta time.
- SurfaceVelocity.ExtraFrictionDv has been removed and replaced with more usable LinearVelocity and AngularVelocity members.
Authoring/Conversion API
- Added CustomBodyTagNames.
- Renamed CustomMaterialTagNames.FlagNames to CustomMaterialTagNames.TagNames.
- Renamed CustomFlagNames to CustomPhysicsMaterialTagNames.
- Renamed CustomPhysicsMaterialTagNames.FlagNames to CustomPhysicsMaterialTagNames.TagNames.
- Added PhysicsCategoryTags, CustomBodyTags, and CustomMaterialTags authoring structs.
- The following properties now return PhysicsCategoryTags instead of int:
  - PhysicsMaterialTemplate.BelongsTo
  - PhysicsMaterialTemplate.CollidesWith
  - PhysicsShape.BelongsTo
  - PhysicsShape.CollidesWith
- The following members on PhysicsMaterialTemplate are now obsolete:
  - GetBelongsTo()
  - SetBelongsTo()
  - GetCollidesWith()
  - SetCollidesWith()
- The following members on PhysicsShape are now obsolete:
  - GetBelongsTo()
  - SetBelongsTo()
  - GetCollidesWith()
  - SetCollidesWith()
- Added PhysicsMaterialTemplate.CustomTags.
  - CustomFlags, GetCustomFlag() and SetCustomFlag() are now obsolete.
- Added PhysicsShape.CustomTags.
  - CustomFlags, GetCustomFlag() and SetCustomFlag() are now obsolete.
- Added PhysicsBody.CustomTags.
- Renamed PhysicsShape.OverrideCustomFlags to PhysicsShape.OverrideCustomTags.
- Renamed PhysicsShape.CustomFlags to PhysicsShape.CustomTags.
- Renamed PhysicsShape.GetCustomFlag() to PhysicsShape.GetCustomTag().
- Renamed PhysicsShape.SetCustomFlag() to PhysicsShape.SetCustomTag().
- Overload of PhysicsShape.GetCapsuleProperties() is now obsolete.
- Overload of PhysicsShape.GetPlaneProperties() is now obsolete.
- Removed PhysicsBody.m_OverrideDefaultMassDistribution (backing field never intended to be public).
- PhysicsShape.GetBoxProperties() now returns underlying serialized data instead of reorienting/resizing when aligned to local axes.
- BaseShapeConversionSystem.GetCustomFlags() is now obsolete.
- Parameterless constructors have been made private for the following types because they should not be used (use instead ScriptableObjectCreateInstance
  () or GameObject.AddComponent
  () as applicable):
  - CustomPhysicsMaterialTagNames
  - PhysicsCategoryNames
  - PhysicsMaterialTemplate
  - PhysicsBody
  - PhysicsShape
- The following types have been made sealed:
  - LegacyBoxColliderConversionSystem
  - LegacyCapsuleColliderConversionSystem
  - LegacySphereColliderConversionSystem
  - LegacyMeshColliderConversionSystem
  - LegacyRigidbodyConversionSystem
  - PhysicsBodyConversionSystem
  - PhysicsShapeConversionSystem
- DisplayContactsJob has been deprecated in favor of protected DisplayContactsSystem.DisplayContactsJob.
- FinishDisplayContactsJob has been deprecated in favor of protected DisplayContactsSystem.FinishDisplayContactsJob.
- DisplayJointsJob has been deprecated in favor of protected DisplayJointsSystem.DisplayJointsJob.
- FinishDisplayTriggerEventsJob has been deprecated in favor of protected DisplayTriggerEventsSystem.FinishDisplayTriggerEventsJob.
- The following types have been deprecated and will be made internal in a future release:
  - DisplayBodyColliders.DrawComponent
  - DisplayCollisionEventsSystem.FinishDisplayCollisionEventsJob
Run-Time Behavior
- Collision events between infinite mass bodies (kinematic-kinematic and kinematic-static) are now raised. The reported impulse will be 0.
- The default value of Unity.Physics.PhysicsStep.ThreadCountHint has been increased from 4 to 8.
- EndFramePhysicsSystem no longer waits for HandlesToWaitFor, instead it produces a FinalJobHandle which is a combination of those jobs plus the built-in physics jobs. Subsequent systems that depend on all physics jobs being complete can use that as an input dependency.
Authoring/Conversion Behavior
- PhysicsCustomData is now converted from PhysicsBody.CustomTags instead of using the flags common to all leaf shapes.
- PhysicsShape.CustomTags is now converted into Material.CustomTags.
- If a shape conversion system throws an exception when producing a PhysicsCollider, then it is simply skipped and logs an error message, instead of causing the entire conversion process to fail.
- PhysicsShape Inspector now displays suggestions of alternative primitive shape types if a simpler shape would yield the same collision result as the current configuration.
- PhysicsShape Inspector now displays error messages if a custom mesh or discovered mesh is not compatible with run-time conversion.

Fixes

Draw Collider Edges now supports spheres, capsules, cylinders and compound colliders.
Fixed bug causing editor to get caught in infinite loop when adding PhysicsShape component to a GameObject with deactivated children with MeshFilter components.
Fixed bug resulting in the creation of PhysicMaterial objects in sub-scenes when converting legacy colliders.
Fixed bug when scaling down friction on bounce in Jacobian building. Once a body was declared to bounce (apply restitution), all subsequent body Jacobians had their friction scaled down to 25%.
Fixed bug resulting in the broadphase for static bodies possibly not being updated when adding or moving a static body, causing queries and collisions to miss.
Fixed bug with restitution impulse during penetration recovery being too big due to wrong units used.
Fixed bug with energy gain coming from restitution impulse with high restitution values.
Fixed Jacobian structures being allocated at non 4 byte aligned addresses, which caused crashes on Android
Removed Solver & Scheduler asserts from Joints between two static bodies #383.
Fixed bug preventing the conversion of classic BoxCollider components with small sizes.
Fixed bug where PhysicsShape.ConvexRadius setter was clamping already serialized value instead of newly assigned value.
Fixed bug where PhysicsShape orientation, size, and convex radius values might undergo changes during conversion resulting in identical volumes; only objects inheriting non-uniform scale now exhibit this behavior.
Fixed bug causing minor drawing error for cylinder PhysicsShape with non-zero convex radius.
Fixed crash when trying to run-time convert a MeshCollider or PhysicsShape with a non-readable mesh assigned. Conversion system now logs an exception instead.
Fixed crash when constructing a MeshCollider with no input triangles. A valid (empty) mesh is still created.
Fixed bugs building to IL2CPP resulting in unresolved external symbols in BvhLeafProcessor, ConvexCompoundLeafProcessor, and ConvexMeshLeafProcessor.
Fixed bug causing physics IJob's to not be burst compiled (ICollisionEventsJob, ITriggerEventsJob, IBodyPairsJob, IContactsJob, IJacobiansJob)

[0.1.0-preview] - 2019-05-31

Upgrade guide

Any run-time code that traversed the transform hierarchy of physics objects to find other entities must instead store references to entity IDs of interest through a different mechanism.
Baking of non-uniform scale for parametric PhysicsShape types has changed to more predictably approximate skewed render meshes. Double check the results on any non-uniformly scaled objects in your projects.
Angular Velocity is currently set in Motion Space. The Motion Space orientation of dynamic bodies may have changed with the changes to the conversion pipeline. If dynamic bodies are now rotating differently, check the values of Initial Angular Velocity in the PhysicsBody component, or values set to Angular in the PhysicsVelocity component.
Convex PhysicsShape objects with no custom mesh assigned now include points from enabled mesh renderers on their children. Double check any convex objects in your projects.
The RaycastInput and ColliderCastInput structs have changed. See below for details.

Changes

Run-Time API
- Renamed CollisionFilter.CategoryBits to CollisionFilter.BelongsTo.
- Renamed CollisionFilter.MaskBits to CollisionFilter.CollidesWith.
- RaycastInput and ColliderCastInput have changed:
  - At the input level, start and end positions are now specified rather then an initial position and a displacement.
  - Start replaces Position.
  - End replaces Direction which had been confusing as it was actually a displacement vector to a second point on the ray.
  - Ray has been made internal as a lower level interface and updated to be less ambiguous.
- Added job interfaces for easier reading of simulation events, instead of having to work directly with block streams.
  - ICollisionEventsJob calls Execute() for every collision event produced by the solver.
  - ITriggerEventsJob calls Execute() for every trigger event produced by the solver.
  - These events now also include the Entity's involved, not just the rigid body indices.
- Added job interfaces for easier modification of simulation data, instead of having to work directly with block streams.
  - IBodyPairsJob calls Execute() for every body pair produced by the broad phase.
  - IContactsJob calls Execute() for every contact manifold produced by the narrowphase.
  - IJacobiansJob calls Execute() for every contact jacobian before it is solved.
Authoring/Conversion API
- Renamed SecondPassLegacyRigidbodyConversionSystem to LegacyRigidbodyConversionSystem.
- Deprecated FirstPassPhysicsBodyConversionSystem.
- Renamed SecondPassPhysicsBodyConversionSystem to PhysicsBodyConversionSystem.
- Deprecated FirstPassLegacyRigidbodyConversionSystem.
- Deprecated overload of PhysicsShape.GetCapsuleProperties() returning raw points.
- Deprecated overload of PhysicsShape.GetPlaneProperties() returning raw points.
- Renamed PhysicsShape.FitToGeometry() to PhysicsShape.FitToEnabledRenderMeshes(). New method accounts for enabled MeshRenderer components on child objects with the same physics body and leaf shape.
- PhysicsShape.GetConvexHullProperties() now includes points from enabled MeshRenderer components on child objects with the same physics body and leaf shape when no custom mesh has been assigned.
Run-Time Behavior
- Added a fixed angle constraint to prismatic joints so they no longer rotate freely.
- Any Entity with a PhysicsVelocity component will be added to the PhysicsWorld and integrated, even if it has no PhysicsCollider.
Authoring/Conversion Behavior
- Physics data on deactivated objects in the hierarchy are no longer converted.
- All physics objects (i.e. bodies) are now un-parented (required since all simulation happens in world space).
- Legacy Collider components are no longer converted if they are disabled.
- Converted PhysicsShape objects with non-uniform scale now bake more predictable results when their Transform is skewed.
- All menu paths for custom assets and authoring components have changed from 'DOTS Physics' to 'DOTS/Physics'.

Fixes

Fixed trigger events not being raised between kinematic-vs-kinematic or kinematic-vs-static body pairs.
Fixed crash in BuildPhysicsWorld when creating a dynamic body without a PhysicsMass component
Cylinder/sphere GameObjects no longer appear in first frame when draw colliders is enabled on PhysicsDebugDisplay.
Fix bugs in BoundingVolumeHierarchy.Build which now produces BoundingVolumeHierarchy of greater quality. This will affect performance of BVH queries, and most notably it will significantly improve performance of DynamicVsDynamicFindOverlappingPairsJob
Fixed incorrect 3DOF angular constraint solving with non-identity joint orientation
Fixed bug where converted SphereCollider would apply incorrect center offset when in a hierarchy with non-uniform scale.
Fixed bug where converted PhysicsShape would not become part of a compound collider at run-time if the first PhysicsBody ancestor found higher up the hierarchy was disabled.
Fixed bug where leaves of compound shapes in a hierarchy might be added to the wrong entity if it had disabled UnityEngine.Collider components.
Fixed bug causing leaves of compound shapes on prefabs to convert into individual static colliders.
Fixed restitution response to be more bouncy for convex objects with high restitution values
Fixed bug where a converted GameObject in a hierarchy would have the wrong translation and rotation at run-time.
Fixed bug where objects with StaticOptimizeEntity would not be converted into physics world.
Preview for Mesh PhysicsShape no longer culls back faces.
Inspector control for convex radius on PhysisShape now appears when shape type is convex hull.

Known Issues

Attempting to fit a non-uniformly scaled PhysicsShape to its render meshes may produce unexpected results.
Physics objects loaded from sub-scenes may have the wrong transformations applied on Android.
Dragging a control label to modify the orientation of a PhysicsShape sometimes produces small changes in its size.
If gizmos are enabled in the Game tab, the 'Physics Debug Display' viewers are incorrectly rendered. Debug viewers render correctly in the Scene tab.

[0.0.2-preview] - 2019-04-08

Upgrade guide

Any assembly definitions referencing Unity.Physics.Authoring assembly by name must be updated to instead reference Unity.Physics.Hybrid.

Changes

Renamed Unity.Physics.Authoring assembly to Unity.Physics.Hybrid. (All of its types still exist in the Unity.Physics.Authoring namespace.)
Radius of cylinder PhysicsShape is no longer non-uniformly scaled when converted.

Fixes

Fixed exception when converting a box PhysicsShape with negative scale.
Fixed incorrect orientation when fitting capsule, cylinder, or plane PhysicsShape to render mesh.
Fixed convex radius being too large when switching PhysicsShape from plane to box or cylinder.
Fixed calculation of minimum half-angle between faces in convex hulls.
Fixed collision/trigger event iterators skipping some events when iterating.
Fixed memory leak when enabling "Draw colliders" in the Physics Debug Display.

Known Issues

Physics systems are tied to (variable) rendering frame rate when using automatic world bootstrapping. See FixedTimestep examples in ECS Samples project for currently available approaches.
IL2CPP player targets have not yet been fully validated.
Some tests might occasionally fail due to JobTempAlloc memory leak warnings.
Swapping PhysicsShape component between different shape types may produce non-intuitive results when nested in hierarchies with non-uniform scale.
Some PhysicsShape configurations do not bake properly when nested in hierarchies with non-uniform scale.
PhysicsShape does not yet visualize convex hull shapes at edit-time.
Drag values on classic Rigidbody components are not currently converted correctly.

[0.0.1-preview] - 2019-03-12

Initial package version