* 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
* feat: solver improvements
* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body
* chore: switch to released versions of parry and wide instead of local patches
* fix cargo doc
* chore: typo fixes
* chore: clippy fix
* Release v0.29.0
* chore: more clippy fixes
* feat: switch to the new Bvh from parry for the broad-phase
* chore: cargo fmt + update testbed
* chore: remove the multi-grid SAP broad-phase
* fix soft-ccd handling in broad-phase
* Fix contact cleanup in broad-phase after collider removal
* chore: clippy fixes
* fix CCD regression
* chore: update changelog
* fix build with the parallel feature enabled
* chore: remove the now useless broad-phase proxy index from colliders
* fix tests
* feat: add a PID controller implementation
* feat: add small rigid-body utilities + test interpolation test
* fix: make scrolling weaker on macos
* feat: add the option to use the PID controller in the character controller demo.
* feat: add a stateless PD controller
* feat(rapier_testbed): cleanup & support PidController in 2D too
* chore: add comments for the PD and PID controllers
* chore: update changelog
* feat: rename PidErrors to PdErrors which is more accurate
* fix cargo doc
* chore: remove dead code
* chore: make test module non-pub
* feat(rapier_testbed): autosave testbed configuration + add support for per-example parameters
* feat(rapier_testbed): also save the camera position
* feat(rapier_testbed): improve ergonomics of example-specific settings
* chore: cargo fmt
* chore(rapier_testbed): small UI ergonomics improvement
* chore(rapier_testbed): clippy fixes
* update to parry ~main
* use traverse_depth_first
* add example to test intersection
* rely on upstream PR rather than local
* re-enable profiler_ui for examples
* rely on official parry repository
* chore: switch back to the published version of parry
* chore: update changelog
* chore: remove dead code
* fix compilation of rapier3d-meshloader and rapier3d-urdf
* chore: cargo fmt
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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
- Fix the wrong codepath taken by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
