Thierry Berger
01dd200152
ci: cargo doc step ( #671 )
2024-07-12 16:29:22 +02:00
Sébastien Crozet
d9585de20b
feat: add the ability to disable all contacts between two links belonging to the same multibody
2024-06-09 12:09:58 +02:00
Bruce Mitchener
f13ca5cf1c
Fix typo in internal variable name.
2024-05-25 22:20:27 +07:00
Fun Maker
a2fdeab7e1
Removed leftovers from block breaks stabilization.
2024-05-05 16:34:55 +02:00
Sébastien Crozet
929aa6b925
feat: rename collision_skin to contact_skin
2024-04-30 23:10:46 +02:00
Sébastien Crozet
664645159d
feat: implement collision skin
2024-04-30 23:10:46 +02:00
Sébastien Crozet
6635d49c8b
feat: add configurable distance cap to soft-ccd
2024-04-30 23:10:46 +02:00
Sébastien Crozet
f58b4f7c19
feat: add warmstarting to contact constraints resolution
2024-04-30 23:10:46 +02:00
Sébastien Crozet
404e032433
feat: add soft (solver-based) ccd implementation
2024-04-30 23:10:46 +02:00
Sébastien Crozet
3ddf2441ea
feat: add exact mlcp solver for pais of 2 constraints
2024-04-30 23:10:46 +02:00
Sébastien Crozet
15c07cfeb3
feat: make narrow-phase filter-out predictive solver contact based on contact velocity
2024-04-30 23:10:46 +02:00
Sébastien Crozet
da92e5c283
Fix clippy and enable clippy on CI
2024-01-27 17:13:08 +01:00
Sébastien Crozet
46b244167c
feat!: rename narrow-phase methods for more clarity.
...
Renames `contacts_with` to`contact_pairs_with`; and `intersections_with` to `intersection_pairs_with`.
2024-01-24 22:51:30 +01:00
Sébastien Crozet
9b87f06a85
feat: implement new "small-steps" solver + joint improvements
2024-01-21 21:02:27 +01:00
Bruce Mitchener
4c2d18a0cd
docs: Minor fixes.
2023-08-28 11:05:45 +07:00
Sébastien Crozet
0207f8cf96
Properly take initial sleeping state set by the user when creating a rigid-body
2022-12-11 17:47:42 +01:00
Sébastien Crozet
5063f3bb4f
Add the ability to disable contacts between two rigid-bodies attached by joints
2022-07-03 13:55:41 +02:00
Sébastien Crozet
c9d8277377
Add contact force events generated above a user-defined threshold
2022-07-01 12:00:32 +02:00
Sébastien Crozet
66f1d6fef7
Fix contact event generation for shapes generating mulitple contact manifolds.
2022-06-21 09:28:41 +02:00
Sébastien Crozet
362b9f2f8b
Fix incorrect sensor events being generated after collider removal
...
Fix #330
2022-05-31 16:27:53 +02:00
Sébastien Crozet
8d15ceab2a
Fix bug where the narrow-phase would not recompute contacts after a collider change
2022-04-29 19:15:24 +02:00
Sébastien Crozet
ae40f4cd7e
Add collision event flags
2022-04-28 13:03:14 +02:00
Sébastien Crozet
f108520b5a
Finalize refactoring
2022-04-20 19:02:49 +02:00
Sébastien Crozet
2b1374c596
First round deleting the component sets.
2022-04-20 19:02:49 +02:00
Sébastien Crozet
d38740369c
Emit collision stopped events after a collider is removed.
2022-03-20 21:49:16 +01:00
Sébastien Crozet
063c638ec5
Combine contact events and intersection events into a single event type and flags
2022-03-20 21:49:16 +01:00
Sébastien Crozet
a9e3441ecd
Rename rigid-body static to fixed
2022-03-20 21:49:16 +01:00
Sébastien Crozet
891c08177d
Rebase on master branch
2022-03-20 21:49:16 +01:00
Sébastien Crozet
28cc19d104
Allow removing a rigid-body without auto-removing attached colliders
2022-03-20 21:49:16 +01:00
zhguchev
536122e080
add defaults for the several structs
2022-01-23 18:01:50 +01:00
Sébastien Crozet
f74b8401ad
Implement multibody joints and the new solver
2022-01-02 16:58:36 +01:00
Benjamin Saunders
601955b4ee
Remove duplicate test
2021-10-24 13:36:29 +02:00
Jamen Marz
7aa94e994f
Impl Default for a few structs
2021-09-25 13:50:12 +02:00
Kane Rogers
3f223aaf9e
Fix bug with colliders without rigid bodies
...
- When `NarrowPhase` adds a collision pair, it checks to make sure that they don't have the same parent
- In the case where the colliders have no parents (eg. they are not attached to a `RigidBody`) this yields a false positive.
- The fix is to ensure that colliders have a parent before ignoring the pair.
2021-08-26 10:29:24 +02:00
Benjamin Saunders
92b8580761
Update intersection graph regardless of active_events
2021-07-14 20:16:19 +02:00
Crozet Sébastien
ff6c75f3bd
Fix collider removal from narrow-phase when the same collider is listed twice.
2021-06-08 18:23:40 +02:00
Crozet Sébastien
7153eb7779
Add ActiveCollisionTypes to easily enable collision-detection between two non-static rigid-body.
2021-06-01 17:59:07 +02:00
Crozet Sébastien
826ce5f014
Rework the event system
2021-06-01 12:36:01 +02:00
Crozet Sébastien
1bef66fea9
Add prelude + use vectors for setting linvel/translation in builders
2021-05-25 11:00:13 +02:00
Crozet Sébastien
705876f5e5
Restore the collision pipeline
2021-04-29 10:26:44 +02:00
Crozet Sébastien
c32da78f2a
Split rigid-bodies and colliders into multiple components
2021-04-26 18:00:50 +02:00
Crozet Sébastien
8173e7ada2
Allow collider modification after its insersion to the ColliderSet.
2021-03-29 14:54:54 +02:00
Crozet Sébastien
dec3e4197f
Small refactoring of the PhysicsPipeline.
2021-03-28 11:54:33 +02:00
Crozet Sébastien
7306821c46
Attenuate the warmstart impulse for CCD contacts.
...
CCD contacts result in very strong, instantaneous, impulses. So it is preferable to attenuate their contribution to subsequent timesteps to avoid overshooting.
2021-03-28 11:27:07 +02:00
Crozet Sébastien
97157c9423
First working version of non-linear CCD based on single-substep motion-clamping.
2021-03-26 18:16:27 +01:00
Crozet Sébastien
f53d0438ed
Contact modification: make the contact normal modifiable too.
2021-02-25 15:40:54 +01:00
Crozet Sébastien
96ecb877e2
Implement dominance.
2021-02-24 13:26:51 +01:00
Crozet Sébastien
babcab0bed
Update the testbed to use PhysicsHooks.
2021-02-23 15:49:23 +01:00
Crozet Sébastien
00706e8b36
Introduce the PhysicsHook trait used for both contact filtering and contact modification.
2021-02-23 11:24:54 +01:00
Crozet Sébastien
ad5c10672e
Use contact ids instead of contact reordering in order to identify the impulse writeback location.
2021-02-22 17:52:03 +01:00
