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0b80bc827ce53b6e207f0de79f226245c1a9b735
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151 Commits

Author SHA1 Message Date
Crozet Sébastien
8dab63bda1 Fix regression in the WASM version of the velocity solver. 2021-03-08 15:14:54 +01:00
Crozet Sébastien
152ada67ec Fix regression causing invalid contacts to be solved. 2021-03-07 17:34:54 +01:00
Crozet Sébastien
0e4393ba9e Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart. 2021-03-07 17:15:32 +01:00
Crozet Sébastien
4cb1f5c692 Fix warning when targetting wasm. 2021-03-07 11:55:10 +01:00
Crozet Sébastien
bed47a82e7 Projection friction impulses on an implicit cone instead of a pyramidal approximation. 2021-03-07 11:44:19 +01:00
Waridley
5592daf7fa Derive Clone for JointSet 2021-03-04 18:05:26 -06:00
Emil Ernerfeldt
589c6ce834 Call update_world_mass_properties from RigidBody::set_mass_properties 2021-03-04 09:09:29 +01:00
Crozet Sébastien
1609d93243 Fix missing sqrt when setting the angular inertia of a rigid-body. 2021-03-03 10:20:14 +01:00
Emil Ernerfeldt
115bae172d fix the body-body revolute angle velocity erp 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
f517601e17 Final cleanup 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
54eae9bb7b simplify prismatic limits 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
4ef7b1cefe Fix primatic wide 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
a0824772c9 fix the revolute wide 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
9bbb081539 fix narrow revolute velocity 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
4ee09a8bc9 Fix the narrow pismatic velocity constraint 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
59796e4767 fix 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
b94cdfa782 Implement ground wide 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
48afbac6ce Implement revolute wide 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
89de6903dc Implement prismatic wide 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
27366e27ff Implement fixed wide 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
48708d9a76 Implement revolute narrow 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
d3f39a9bab Implemented prismatic narrow. Needs testing and close review 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
ede4f0f770 cleanup 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
3f26b46196 Implement ball wide 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
4162aed2a0 Add params.velocity_based_erp_inv_dt() helper 2021-02-26 11:06:29 +01:00
Emil Ernerfeldt
21247a1236 Add restorative impulse in velocity solver 2021-02-26 11:06:29 +01:00
Sébastien Crozet
f41a6fb76d Merge pull request #122 from dimforge/dominance 
Implement dominance groups
 2021-02-25 15:38:10 +01:00
Emil Ernerfeldt
277d74fb18 less mut 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-02-24 15:59:11 +01:00
Emil Ernerfeldt
69afb2914a less mut 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-02-24 15:59:06 +01:00
Emil Ernerfeldt
504b84bb06 Add JointSet::get_mut and get_unknown_gen_mut 
Fix https://github.com/dimforge/rapier/issues/121
 2021-02-24 15:20:48 +01:00
Crozet Sébastien
9cdd34c741 Fix the parallel build. 2021-02-24 13:40:26 +01:00
Crozet Sébastien
96ecb877e2 Implement dominance. 2021-02-24 13:26:51 +01:00
Crozet Sébastien
3cc2738e5f Fix warnings in the WASM build. 2021-02-23 16:47:48 +01:00
Crozet Sébastien
b3405e5672 Add a method to modify all the active dynamic bodies on the RigidBodySet. 2021-02-23 15:47:44 +01:00
Crozet Sébastien
3fdb4cd6d3 Properly take the tangent_velocity into account in the velocity solver. 2021-02-23 15:47:24 +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
Sébastien Crozet
d31a327b45 Merge pull request #119 from dimforge/joint_drive 
Add joint motors
 2021-02-22 17:40:29 +01:00
Crozet Sébastien
e5c4c2e8ff Ball joint: remove unused field. 2021-02-22 15:06:33 +01:00
Crozet Sébastien
0eec28325e Fix warnings. 2021-02-22 14:20:06 +01:00
Crozet Sébastien
4c9138fd2b Some minor cleanup and joint constraint refactoring. 2021-02-22 13:58:43 +01:00
Crozet Sébastien
052a5a5fc0 Make Simd prismatic joint limit code transmit torque. 2021-02-22 13:44:38 +01:00
Crozet Sébastien
73192d41c2 Make prismatic joint limit transmit torque. 2021-02-22 13:22:15 +01:00
Crozet Sébastien
aaba6c8927 Add motors to prismatic joints. 2021-02-22 12:12:24 +01:00
Crozet Sébastien
f204a5f736 Take max motor impulse into account for the ball joint. 2021-02-22 10:15:13 +01:00
Crozet Sébastien
01496d43e5 Add motors to ball joints. 2021-02-21 17:15:00 +01:00
Crozet Sébastien
f5515c3973 Fix lever-arm handling in the revolute joint. 2021-02-21 17:14:43 +01:00
Crozet Sébastien
dc8ccc0c30 Make revolute joint actuation work properly even when SIMD is enabled. 2021-02-19 17:32:09 +01:00
Crozet Sébastien
e9f17f32e8 Complete the implementation of non-simd joint motor for the revolute joint. 2021-02-19 15:21:25 +01:00
Emil Ernerfeldt
5e7eedc3fd Always apply the predictive contact term, even for bouncing contacts 2021-02-18 17:58:17 +01:00
Emil Ernerfeldt
287cd46295 Remove unused restitution_velocity_threshold parameter 2021-02-18 15:41:46 +01:00