nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add joint softness per joint (#901)

Browse Source
This commit is contained in:
Dragos Daian
2025-11-21 16:48:52 +01:00
committed by GitHub
parent 5f687b0d29
commit e40d3a9dce
22 changed files with 442 additions and 200 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
CHANGELOG.md
View File

@@ -13,6 +13,12 @@
- Rename `RigidBodyChanges::CHANGED` to `::IN_CHANGED_SET` to make its meaning more precise.
- Fix colliders ignoring user-changes after the first simulation step.
- Fix broad-phase incorrectly taking into account disabled colliders attached to an enabled dynamic rigid-body.
- Grouped `IntegrationParameters::contact_natural_frequency` and `IntegrationParameters::contact_damping_ratio` behind
a single `IntegrationParameters::contact_softness` (#789).
- Removed the `Integration_parameters` methods related to `erp` and `cfm`. They are now methods of the
`IntegrationParameters::softness` and `GenericJoint::softness` fields (#789).
- Removed `IntegrationParameters::joint_natural_frequency` and `IntegrationParameters::joint_damping_ratio` in favor of
per-joint softness coefficients `GenericJoint::softness` (#789).
## v0.30.1 (17 Oct. 2025)