Release v0.34.0

[sebcrozet]

v0.34.0 (14 May 2026)

Added

• New change_contexts3 3D example demonstrating how to move an entity between physics contexts.
  #684

Modified

• Update from rapier 0.31 to rapier 0.32. #692
  See rapier's changelog for details.
  • Most Collider, joint, and query-pipeline APIs now take glam vectors/rotations directly instead of
    nalgebra Points/Isometrys. For example, Collider::capsule, Collider::segment,
    Collider::triangle, Collider::voxels, RapierQueryPipeline::cast_ray, project_point,
    intersect_shape, cast_shape, etc. no longer require .into() conversions on input vectors.
  • TransformInterpolation::{start, end} are now Option<Pose> instead of Option<Isometry<f32>>.
  • iso_to_transform now takes a &Pose instead of &Isometry<Real>.
  • SolverContactView::is_new now compares an internal float; the public boolean API is preserved.
  • ContactPairView::has_any_active_contact is now a method call on the underlying contact pair.
• Renamed Velocity fields: linvel → linear and angvel → angular.
  #690

Fix

• Fix context swapping failing when physics runs in a schedule other than PostUpdate: a stray run
  of sync_removals was removing handles that had just been added.
  #684