chore(deps): bump rapier2d from 0.22.0 to 0.35.2

[dependabot]

Bumps rapier2d from 0.22.0 to 0.35.2.

Changelog

Sourced from rapier2d's changelog.

v0.35.2 (15 August 2026)

Fixed

• Multibody: guard against the instabilities the semi-implicit coriolis term can introduce when the mass matrix is near-singular. The free-velocity update is re-solved with the plain mass matrix whenever it injects more energy than the applied forces’ work.
• Motors and limits of multibody joints now honor their compliance (the CFM term was left out of the row’s effective mass), so their gains may need to be stiffer to settle as fast as before.
• Generic (multibody) joint constraints now reserve the exact number of jacobian rows they emit: an axis carrying both a motor and a limit produces two, exceeding the previous allocation.
• The impulses reported on contacts (and the contact-force events derived from them) are now the total impulse applied during the step, instead of one substep too many: they drop by 1 / (num_solver_iterations + 1) and no longer vary with warmstart_coefficient.
• MJCF: a geom’s margin is no longer loaded as a contact_skin, which made geoms rest that far apart. It is ignored below rapier’s speculative-contact distance, and becomes the body’s soft-CCD prediction above it (PairOverride::margin is removed).
• MJCF: actuators now load as MotorModel::ForceBased, matching MuJoCo gains, which are absolute generalized forces rather than accelerations.

v0.35.1 (08 August 2026)

Added

• Added public access to the testbed’s Window and GraphicsManager to enable custom rendering on third-party examples.

v0.35.0 (08 August 2026)

Added

• ContactForceEvent::first_tick: true on the step a pair's total contact force first exceeds its contact_force_event_threshold (coming from below it, or from separation), false while it stays above on consecutive steps — the analogue of PhysX's "threshold force found" vs "persists" report. The status resets when the force drops back below the threshold or the colliders separate.

• CoefficientCombineRule::GeometricMean: combines friction/restitution as sqrt(c1 * c2), the convention used by several other engines. It has the highest rule priority, and clamps negative coefficients to zero before the square root.

• DebugRenderStyle::sleep_eligible_color_multiplier: the debug-renderer now draws bodies that are eligible for sleep but still awake in a distinct color, making it easy to spot what is keeping a pile awake.

Fixed

• Wheel::rotation now accumulates from the wheel's own rolling direction on the contact plane (contact normal × axle, the same forward direction used by the friction update) instead of the chassis' index_forward_axis, so wheels visually spin whenever the vehicle actually rolls (adapted from PR #950 by @​tomo0613).

... (truncated)

Commits

• f644d98 Release 0.35.2
• 37eeac7 fix total impulse reporting
• d2b4efc feat: more multibody & MJCF fixes (#987)
• 3e12c26 Release v0.35.1
• dc7771a feat: add Window and GraphicsManager accessors to the testbed
• 5de07a4 Release v0.35.0 (#982)
• 429f41e feat: report threshold-crossing transitions in contact force events (#981)
• 4267d85 Move rapier-compat build artifacts into pkg/dist (#964)
• 57bbc8d fix: KCC should allow grounding with no up movement (#481)
• 4c7175d Enforce LF line endings for shell scripts (#963)
• Additional commits viewable in compare view

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