Documenting changes

Docs/APIChanges.md

@@ -6,8 +6,9 @@ Changes that make some state saved through SaveBinaryState from a prior version
 
 ## Changes between v4.0.1 and latest
 
+* 20231219 - *SBS* - Added a 'swing type' attribute to SixDOFConstraint and SwingTwistConstraint. This breaks the binary serialization format. (41016256e2cf1262ec05cff3cfa7645668ee0bf0)
 * 20231208 - Changed the meaning of Constraint::mNumVelocity/PositionStepsOverride. Before the number of steps would be the maximum of all constraints and the default value, now an overridden value of 0 means that the constraint uses the default value, otherwise it will use the value as specified. This means that if all constraints in an island have a lower value than the default, we will now use the lower value instead of the default. (0771808a03b850d16f1c64156f0aee827ca3706b)
-* 20231208 - *SBS* - Bodies can now also override the default number of solver iterations. This value is used when the body collides with another body and a contact constraint is created (for constraints, the constraint override is always used). (0771808a03b850d16f1c64156f0aee827ca3706b)
+* 20231208 - *SBS* - Bodies can now also override the default number of solver iterations. This breaks the binary serialization format. (0771808a03b850d16f1c64156f0aee827ca3706b)
 * 20231203 - VehicleConstraint::CombineFunction got two additional parameters to identify which wheel is requesting friction. (8d80155f93d0d0c3ffe3dd46550650b9c830d304)
 
 ## Changes between v4.0.0 and v4.0.1

Docs/ReleaseNotes.md

@@ -5,7 +5,8 @@ For breaking API changes see [this document](https://github.com/jrouwe/JoltPhysi
 ## Unreleased changes
 
 ### New functionality
-* Twist limits no longer need to be centered around zero anymore for SixDOFConstraint and SwingTwistConstraints.
+* Swing limits do not need to be symmetrical anymore for SixDOFConstraints. This requires using the new pyramid shaped swing limits (ESwingType::Pyramid). SwingTwistConstraints still requires symmetrical limits but can use the pyramid swing limits too. These are cheaper to evaluate but are less smooth.
+* Twist limits no longer need to be centered around zero for SixDOFConstraints and SwingTwistConstraints, any value between -PI and PI is supported now.
 * Changed the meaning of Constraint::mNumVelocity/PositionStepsOverride. Before the number of steps would be the maximum of all constraints and the default value, now an overridden value of 0 means that the constraint uses the default value, otherwise it will use the value as specified. This means that if all constraints in an island have a lower value than the default, we will now use the lower value instead of the default. This allows simulating an island at a lower precision than the default.
 * Bodies can now also override the default number of solver iterations. This value is used when the body collides with another body and a contact constraint is created (for constraints, the constraint override is always used).
 * Added BodyInterface::SetUseManifoldReduction which will clear the contact cache and ensure that you get consistent contact callbacks in case the body that you're changing already has contacts.