chore(deps): bump rapier3d from 0.22.0 to 0.34.0

[dependabot]

Bumps rapier3d from 0.22.0 to 0.34.0.

Changelog

Sourced from rapier3d's changelog.

v0.34.0 (04 July 2026)

Added

• Multibody joints now support a per-DoF armature (reflected rotor inertia, matching MuJoCo's concept), exposed via Multibody::armature() / armature_mut(). The related Multibody::dof_inverse_inertia() returns the articulated DoF inverse inertia including armature.
• Multibody joints now support passive per-DoF springs (MuJoCo-style spring/damper) via MultibodyJoint::set_spring() / spring(), integrated implicitly.
• Multibody joints now support holonomic DoF coupling: constrain one generalized coordinate to another via MultibodyDofCoupling and Multibody::add_dof_coupling() / couplings().
• MultibodyLink::assembly_id() exposes the offset of a link's DoFs in the multibody's generalized coordinate/velocity vectors.
• rapier3d-mjcf: support for tendons, equality constraints, materials (including visual-mesh materials), actuator max-force, joint DoF coupling, armature, per-DoF spring/damper, and control.
• Testbed: the ability to specify a material.

Fixed

• Corrected the local frame of impulse joints attached to multibodies.
• Added a missing coupling term for loop-closing impulse-joint constraints (bodies with a non-zero center-of-mass offset).
• Fixed a crash occurring with the parallel feature enabled.

Modified

• Breaking (rapier_testbed only): the testbed was reworked to remove the callback-based API. Harness::add_callback / clear_callbacks and the HarnessPlugin trait were removed, and several testbed/harness types (RunState, PhysicsState, RapierBroadPhaseType, TestbedApp::from_builders / set_builders, etc.) were changed. Simulation setup now drives the physics world directly instead of registering per-step callbacks. The core rapier2d/rapier3d physics API is unaffected.

v0.33.0 (05 June 2026)

Added

• New mjcf-rs and rapier3d-mjcf crates: a pure-Rust (no libmujoco/FFI) loader for the MuJoCo MJCF XML format. mjcf-rs parses MJCF into a typed AST — resolving <include>, <default> class inheritance, angle units, and the several rotation specs (quat, axisangle, euler, xyaxes, zaxis) — and rapier3d-mjcf converts a model into rigid-bodies, colliders, and joints via MjcfRobot. Meshes load behind the stl/wavefront/msh features, and visual meshes support per-vertex normals with optional smoothing (#936, #943).
• Python bindings for Rapier 2D/3D (rapier-py-* crates under python/), generated and published as installable wheels (#938).
• New PhysicsWorld convenience wrapper bundling RigidBodySet, ColliderSet, the broad/narrow phases, islands, joints, the CCD solver, gravity, and integration parameters in a single struct, for simpler setup of basic simulations. It also exposes helpers for waking bodies (wake_up, wake_up_all), iterating only active bodies (active_bodies), and iterating joints — including those attached to a given body (impulse_joints, impulse_joints_with, multibody_joints,

... (truncated)

Commits

• a1ef310 Release v0.34.0 (#958)
• 0e4bcb6 feat: simplify the python bindings to only include the 3d-f32 variant (#957)
• 936b228 feat: testbed rework to avoid the callback patterns (#956)
• 7149ef3 feat: various multibody/mjcf fixes (#955)
• 7e72d13 Release v0.33.0 (#944)
• b45af49 feat: support loading normals and normals smoothing from mjcf (#943)
• 0a27566 feat: move the rapier.rs website repository into this one (#941)
• 0e3c5b3 feat: generate python bindings (#938)
• 0831245 feat: add a mjcf loader (#936)
• 6f48e09 feat: add a PhysicsWorld struct for exposing a simpler API + dependency updat...
• Additional commits viewable in compare view

Dependabot will resolve any conflicts with this PR as long as you don't alter it yourself. You can also trigger a rebase manually by commenting @dependabot rebase.

---

Dependabot commands and options

You can trigger Dependabot actions by commenting on this PR:

• @dependabot rebase will rebase this PR
• @dependabot recreate will recreate this PR, overwriting any edits that have been made to it
• @dependabot show <dependency name> ignore conditions will show all of the ignore conditions of the specified dependency
• @dependabot ignore this major version will close this PR and stop Dependabot creating any more for this major version (unless you reopen the PR or upgrade to it yourself)
• @dependabot ignore this minor version will close this PR and stop Dependabot creating any more for this minor version (unless you reopen the PR or upgrade to it yourself)
• @dependabot ignore this dependency will close this PR and stop Dependabot creating any more for this dependency (unless you reopen the PR or upgrade to it yourself)

[dependabot]

Assignees

The following users could not be added as assignees: aramhammoudeh. Either the username does not exist or it does not have the correct permissions to be added as an assignee.

Please fix the above issues or remove invalid values from dependabot.yml.