Release v0.22.1

Author: sebcrozet

CHANGELOG.md

@@ -1,3 +1,11 @@
+## 0.22.1
+
+### Added
+
+- Add `Bvh::insert_with_change_detection` which runs an insertion unless the inserted aabb is enclosed in the
+  existing one. This differs from `insert_or_update_partially` because the former will update parent AABBs so
+  they enclose their descendants.
+
 ## 0.22.0
 
 ### Fixed

crates/parry2d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry2d-f64"
-version = "0.22.0"
+version = "0.22.1"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 
 description = "2 dimensional collision detection library in Rust. 64-bit precision version."

crates/parry2d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry2d"
-version = "0.22.0"
+version = "0.22.1"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 
 description = "2 dimensional collision detection library in Rust."

crates/parry3d-f64/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry3d-f64"
-version = "0.22.0"
+version = "0.22.1"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 
 description = "3 dimensional collision detection library in Rust. 64-bits precision version."

crates/parry3d/Cargo.toml

@@ -1,6 +1,6 @@
 [package]
 name = "parry3d"
-version = "0.22.0"
+version = "0.22.1"
 authors = ["Sébastien Crozet <developer@crozet.re>"]
 
 description = "3 dimensional collision detection library in Rust."

src/partitioning/bvh/bvh_insert.rs

@@ -11,13 +11,17 @@ impl Bvh {
         self.insert_with_change_detection(aabb, leaf_index, 0.0)
     }
 
-
     /// Inserts a leaf into this BVH, or updates it if already exists.
     ///
     /// If the `aabb` is already contained by the existing leaf node AABB, nothing is modified.
     /// Otherwise, the aabb being effectively inserted is equal to `aabb` enlarged by the
     /// `change_detection_margin`.
-    pub fn insert_with_change_detection(&mut self, aabb: Aabb, leaf_index: u32, change_detection_margin: Real) {
+    pub fn insert_with_change_detection(
+        &mut self,
+        aabb: Aabb,
+        leaf_index: u32,
+        change_detection_margin: Real,
+    ) {
         if let Some(leaf) = self.leaf_node_indices.get(leaf_index as usize) {
             let node = &mut self.nodes[*leaf];