chore(deps): bump org.dyn4j:dyn4j from 4.2.2 to 5.0.2

[dependabot]

Bumps org.dyn4j:dyn4j from 4.2.2 to 5.0.2.

Changelog

Sourced from org.dyn4j:dyn4j's changelog.

v5.0.2 - March 16th, 2024

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This update focuses on a few minor performance improvements, fixes and enhancements.

NOTE: #275 reduced the default number of velocity/position solver iterations. If this causes an issue, you can manually set the solver iterations back to 10 and 10 which were the old defaults using Settings.setVelocityConstraintSolverIterations and Settings.setPositionConstraintSolverIterations. This change was made based on testing where it was found that a lower number of iterations reduces jitter and the overall system energy without significant fidelity loss. The performance improvement was a side effect.

NOTE: #287 will now wake the body when certain changes are made to it. Please review the issue for the details. If you relied on the body staying at rest in these situations, just use setAtRest(true) after making the change.

Changes

• #288 Add methods from PR286
• #287 Wake bodies when body properties are changed
• #275 Reduce the default solver iterations
• #274 Store the bodies and fixtures directly on the CollisionData object
• #273 Clean up methods in SequentialImpulses
• #276 Various minor performance improvements

v5.0.1 - December 31st, 2022

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This update fixes a few issues discovered while enhancing the samples project. This update does change the behavior of the SolvedContact.isSolved method and removes the code that resets the enabled and tangentVelocity properties on the ContactConstraint.

Bug Fixes

• #267 Enabled, tangent speed, and other properties of ContactConstraint are not preserved
• #268 The SolvedContact.isSolved method is not consistent

v5.0.0 - December 23rd, 2022

Milestone | Tag | Maven Release | GitHub Release

This major update overhauls the org.dyn4j.dynamics.joint package. This update allows the creation of new joints with an arbitrary number of bodies (whereas only one-body or two-body joints were possible before). This release sees all joints inherit from standard interfaces for things like limits, motors, and springs with the intent to make the API surface identical among all the joints.

A major change from previous versions are the settings for motors and springs. Before, you would disable these features by setting their values to zero or some default value. Now, these features are enabled/disabled using specific set{feature}Enabled methods. You can still set those settings to zero/defaults, which effectively disables them, but you lose the original value. For example, if you want your spring stiffness to be 10.0 and you want to toggle it on or off based on user interaction, you have to store the 10.0 somewhere, then set it to zero to disable the spring, then set it back to 10.0 to re-enable the spring with the correct value. These new methods allow you to set it to 10.0 and then toggle the behavior on/off separately.

Another major change from previous versions is on the WheelJoint and PrismaticJoint. These joints have had their body arguments reversed so that the given axis of allowed motion is fixed to the first body rather than the second. This shouldn't impact existing code too much, but generally you'd need to reverse the first and second body and potentially negate the axis you had before.

Apart from these breaking changes, many of the joints see new features to help reduce the number of joints between bodies to achieve a desired effect. For example, before you would need to use both a WeldJoint and a RevoluteJoint if you wanted an angular spring with limits - this is now possible with only a WeldJoint. Another example is if you wanted a linear spring with prismatic motion, you'd need to use both a PrismaticJoint and a DistanceJoint - now you can just use the PrismaticJoint.

The class documentation for all joints has been revised to be clearer and reflect all the changes described above.

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