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377 Commits

Author SHA1 Message Date
Crozet Sébastien
3cab54b880 Fix some warnings. 2021-04-27 14:37:39 +02:00
Crozet Sébastien
c32da78f2a Split rigid-bodies and colliders into multiple components 2021-04-26 18:00:50 +02:00
Crozet Sébastien
a4fe46b5c4 Fix compilation in 2D. 2021-04-13 13:42:18 +02:00
Crozet Sébastien
d70c6f82e3 Fix torque generation for the prismatic joint motor 2021-04-13 11:44:34 +02:00
Crozet Sébastien
da9c3db5e8 Switch to nalgebra 0.26 2021-04-12 17:22:18 +02:00
Crozet Sébastien
31138c252d Make the CCDSolver clonable and serializable. 2021-04-03 12:04:00 +02:00
Crozet Sébastien
e66740e950 Release v0.7.0 2021-04-02 14:20:51 +02:00
Crozet Sébastien
2a21f47136 Add getters indicating if the translation or rotation dofs of a rigid-body are locked. 2021-04-01 15:43:47 +02:00
Crozet Sébastien
cc3f16eb85 Fix parallel build. 2021-04-01 10:22:00 +02:00
Crozet Sébastien
0ecc302971 Some small performance improvements. 2021-04-01 10:11:32 +02:00
Crozet Sébastien
4fb898c77c Remove useless rigid-body fields. 2021-04-01 09:46:13 +02:00
Crozet Sébastien
1b073e98b4 Remove the IntegrationParameters field we don't use. 2021-03-31 18:41:02 +02:00
Crozet Sébastien
ab876964a0 Revert the warmstart_correction_slope to its previous value. 2021-03-31 16:55:33 +02:00
Crozet Sébastien
4e84c122df Fix more warnings. 2021-03-31 16:55:18 +02:00
Crozet Sébastien
80f487fd4a Test to see how the warmstart correction affect the benchmarks. 2021-03-31 16:35:33 +02:00
Crozet Sébastien
3412e9ddbf Fix some warnings. 2021-03-31 12:35:54 +02:00
Crozet Sébastien
d82fc0d23d Fix body status modification. 2021-03-31 12:09:09 +02:00
Crozet Sébastien
1187ef796d Rename some RigidBodyBuilder mass-related setters to include "additional". 2021-03-31 10:55:36 +02:00
Crozet Sébastien
e9f6384081 Fix the parallel solver to work properly with CCD. 2021-03-31 10:53:44 +02:00
Crozet Sébastien
88933bd431 Run the position solver after the CCD motion clamping. 2021-03-30 17:11:52 +02:00
Crozet Sébastien
d2ee642053 CCD: take angular motion and penetration depth into account in various thresholds. 2021-03-30 17:10:50 +02:00
Crozet Sébastien
c3a0c67272 Add missing files. 2021-03-29 17:23:05 +02:00
Crozet Sébastien
a733f97028 Implement the ability to run multiple CCD substeps. 2021-03-29 17:21:49 +02:00
Crozet Sébastien
8173e7ada2 Allow collider modification after its insersion to the ColliderSet. 2021-03-29 14:54:54 +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
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