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feat: persistent islands + manifold reduction (#895)

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* feat: initial implementation of contact manifold reduction

* feat: try bepu-like manifold reduction

* feat: simplification of the constraints counting and indexing logic

* feat: add concept of incremental islands with a single awake island

More islands manager fixes

* feat: start adding support for multiple awake islands

* feat: add more timings

* feat: implement incremental island split & merge

* chore: refactor islands manager into multiple files

* chore: refactor manifold reduction to its own file + add naive reduction method

* feat: add islands manager validation checks

* fix various bugs in the new islands system

* chore: remove redundant active_set_offset field
This commit is contained in:
Sébastien Crozet
2026-01-09 17:04:02 +01:00
committed by GitHub
parent 134132900a
commit 48de83817e
40 changed files with 2099 additions and 1114 deletions
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2
examples3d/one_way_platforms3.rs
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@@ -105,7 +105,7 @@ pub fn init_world(testbed: &mut Testbed) {
}
for handle in physics.islands.active_bodies() {
let body = physics.bodies.get_mut(*handle).unwrap();
let body = physics.bodies.get_mut(handle).unwrap();
if body.position().translation.y > 1.0 {
body.set_gravity_scale(1.0, false);
} else if body.position().translation.y < -1.0 {