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feat: solver improvements + release v0.29.0 (#876)

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* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes
This commit is contained in:
Sébastien Crozet
2025-09-05 19:31:58 +02:00
committed by GitHub
parent 317322b31b
commit 134f433903
94 changed files with 5066 additions and 8136 deletions
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8
src_testbed/physx_backend.rs
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@@ -173,7 +173,7 @@ impl PhysxWorld {
gravity: gravity.into_physx(),
thread_count: num_threads as u32,
broad_phase_type: BroadPhaseType::Abp,
solver_type: SolverType::Pgs,
solver_type: SolverType::Tgs,
friction_type,
ccd_max_passes: integration_parameters.max_ccd_substeps as u32,
..SceneDescriptor::new(())
@@ -211,7 +211,7 @@ impl PhysxWorld {
actor.set_angular_velocity(&angvel, true);
actor.set_solver_iteration_counts(
// Use our number of solver iterations as their number of position iterations.
integration_parameters.num_solver_iterations.get() as u32,
integration_parameters.num_solver_iterations as u32,
1,
);
@@ -770,6 +770,8 @@ impl AdvanceCallback<PxArticulationLink, PxRigidDynamic> for OnAdvance {
}
unsafe extern "C" fn ccd_filter_shader(data: *mut FilterShaderCallbackInfo) -> PxFilterFlags {
(*(*data).pairFlags) |= physx_sys::PxPairFlags::DetectCcdContact;
unsafe {
(*(*data).pairFlags) |= physx_sys::PxPairFlags::DetectCcdContact;
}
PxFilterFlags::empty()
}