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feat: add warmstarting to contact constraints resolution

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This commit is contained in:
Sébastien Crozet
2024-04-21 18:55:11 +02:00
committed by Sébastien Crozet
parent da79d6fb5b
commit f58b4f7c19
32 changed files with 1540 additions and 342 deletions
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27
examples2d/all_examples2.rs
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@@ -17,6 +17,7 @@ mod damping2;
mod debug_box_ball2;
mod debug_compression2;
mod debug_total_overlap2;
mod debug_vertical_column2;
mod drum2;
mod heightfield2;
mod joint_motor_position2;
@@ -28,6 +29,17 @@ mod polyline2;
mod pyramid2;
mod restitution2;
mod rope_joints2;
mod s2d_arch;
mod s2d_ball_and_chain;
mod s2d_bridge;
mod s2d_card_house;
mod s2d_confined;
mod s2d_far_pyramid;
mod s2d_high_mass_ratio_1;
mod s2d_high_mass_ratio_2;
mod s2d_high_mass_ratio_3;
mod s2d_joint_grid;
mod s2d_pyramid;
mod sensor2;
mod trimesh2;
@@ -86,6 +98,21 @@ pub fn main() {
("(Debug) box ball", debug_box_ball2::init_world),
("(Debug) compression", debug_compression2::init_world),
("(Debug) total overlap", debug_total_overlap2::init_world),
(
"(Debug) vertical column",
debug_vertical_column2::init_world,
),
("(s2d) high mass ratio 1", s2d_high_mass_ratio_1::init_world),
("(s2d) high mass ratio 2", s2d_high_mass_ratio_2::init_world),
("(s2d) high mass ratio 3", s2d_high_mass_ratio_3::init_world),
("(s2d) confined", s2d_confined::init_world),
("(s2d) pyramid", s2d_pyramid::init_world),
("(s2d) card house", s2d_card_house::init_world),
("(s2d) arch", s2d_arch::init_world),
("(s2d) bridge", s2d_bridge::init_world),
("(s2d) ball and chain", s2d_ball_and_chain::init_world),
("(s2d) joint grid", s2d_joint_grid::init_world),
("(s2d) far pyramid", s2d_far_pyramid::init_world),
];
// Lexicographic sort, with stress tests moved at the end of the list.