From 9081070d8532ff1fb1fae0d60b3a8fe790c7fdfb Mon Sep 17 00:00:00 2001 From: Will Date: Thu, 30 Oct 2025 14:12:52 +0100 Subject: [PATCH 1/2] Making SolverGenericContact's contact_id public. --- src/geometry/contact_pair.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index 7a6ba717c..243f5a766 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -394,7 +394,7 @@ pub struct SolverContactGeneric { /// This isn’t a bool for optimizations purpose with SIMD. pub is_new: N, // 1/1 /// The index of the manifold contact used to generate this solver contact. - pub(crate) contact_id: [u32; LANES], // 1/1 + pub contact_id: [u32; LANES], // 1/1 #[cfg(feature = "dim3")] pub(crate) padding: [N; 1], } From f551c7ed39f8597e586c499202f0709f5dec9c99 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20Crozet?= Date: Fri, 21 Nov 2025 16:32:51 +0100 Subject: [PATCH 2/2] chore: update changelog --- CHANGELOG.md | 1 + 1 file changed, 1 insertion(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index a4ec7945a..2fcad1139 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -19,6 +19,7 @@ `IntegrationParameters::softness` and `GenericJoint::softness` fields (#789). - Removed `IntegrationParameters::joint_natural_frequency` and `IntegrationParameters::joint_damping_ratio` in favor of per-joint softness coefficients `GenericJoint::softness` (#789). +- Make `SolverContact::contact_id` public so that user code knows what geometric contact it originates from (#888). ## v0.30.1 (17 Oct. 2025)