v2.4.0

This is by far the largest update so far, and it comes with pretty massive changes and speediness!

See the change log for details.

v2.3.0

NOTE: There's a good chance that this will be the last release targeting .NET Standard 2.0. If you foresee a dependency on the newer versions (.NET 5+) being a problem for your use case, please mention it so I can take it into account: #80

Highlights:

• CollidableProperty replaces BodyProperty for more generality
• Tree sweep builds now handle pathological cases more gracefully
• Some more generic constraints tightening
• Some more validation around nansplosions
• High angular velocity compound testing fixes
• Static shape/description setting now updates bounds to be consistent with body behavior
• Fixed a capsule-triangle numerical bug
• Fixed a sphere-triangle numerical bug
• Made an acos approximation less approximate; some angular servo constraints will work a lot better
• ITimestepper now a required parameter to make the choice of execution order explicit

Plus some miscellaneous typo fixes and whatnot.

v2.2.0

Tighter generic constraints, improvements on solver contact extraction, no more Quaternion name collisions, buffer-span interop, body/static/constraint handles actual types instead of raw ints, and some other miscellaneous improvements.

On nuget: https://www.nuget.org/packages/BEPUphysics/2.2.0

v2.1.0

A whole lot of bug fixes, minor improvements, and convenience features.

v2.0.0

v2's out of beta! As far as I know, it works! And it's fast! Try it out and report all the bugs you find!

NuGet:
https://www.nuget.org/packages/BEPUphysics/2.0.0

v2.0.0-beta

Meshes, compounds, ray casts, sweeps, some more constraints! Officially maybe useful to someone.

NuGet: https://www.nuget.org/packages/BEPUphysics/2.0.0-beta

v2.0.0-alpha

The only-somewhat-slightly delayed alpha release. For those who enjoy spheres and boxes.

NuGet: https://www.nuget.org/packages/BEPUphysics/2.0.0-alpha