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First working version of non-linear CCD based on single-substep motion-clamping.

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Crozet Sébastien
2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
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src/dynamics/mod.rs
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@@ -18,6 +18,7 @@ pub use self::rigid_body::{ActivationStatus, BodyStatus, RigidBody, RigidBodyBui
pub use self::rigid_body_set::{BodyPair, RigidBodyHandle, RigidBodySet};
pub use parry::mass_properties::MassProperties;
// #[cfg(not(feature = "parallel"))]
pub use self::ccd::CCDSolver;
pub use self::coefficient_combine_rule::CoefficientCombineRule;
pub(crate) use self::joint::JointGraphEdge;
pub(crate) use self::rigid_body::RigidBodyChanges;
@@ -26,6 +27,7 @@ pub(crate) use self::solver::IslandSolver;
#[cfg(feature = "parallel")]
pub(crate) use self::solver::ParallelIslandSolver;
mod ccd;
mod coefficient_combine_rule;
mod integration_parameters;
mod joint;