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176c3bae149b6e46b97a154d335951edba183ea9
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41 Commits

Author SHA1 Message Date
Thierry Berger
176c3bae14 Fix user changes handling (#803) 
* add failing test from @Johannes0021

* apply fix on update_positions

* apply fix on ColliderSet::iter_mut

* fix clippy..

* more complete test

* feat: refactor modified sets into a wrapper to avoid future mistakes

* chore: fix typos

---------

Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
 2025-03-28 12:48:25 +01:00
Sébastien Crozet
49fba6cd54 feat: rename AxisMask to AxesMask + enable LIN_Z only in 3D (#805) 2025-03-05 18:07:19 +01:00
Sébastien Crozet
108a2a18d6 feat: add PD and PID controller implementations (#804) 
* 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
 2025-03-05 14:06:49 +01:00
Thierry Berger
510237cc29 Profiling support (#743) 2024-11-19 16:33:26 +01:00
Bruce Mitchener
7374653338 docs: Fix minor typos and tweaks (#696) 
---------

Co-authored-by: Thierry Berger <contact@thierryberger.com>
 2024-07-22 11:32:08 +02:00
Thierry Berger
01dd200152 ci: cargo doc step (#671) 2024-07-12 16:29:22 +02:00
Sébastien Crozet
3004a7d38d chore: update to nalgebra 0.33 and parry 0.16 (#664) 2024-06-23 22:57:51 +02:00
Bruce Mitchener
7375a691e2 Fix some typos. (#620) 2024-05-05 12:11:38 +02:00
Sébastien Crozet
5867d2e78d fix: include the 0.5 factor in pseudo (mass-normalized) kinetic energy calculation 2024-04-30 23:10:46 +02:00
Sébastien Crozet
c079452a47 feat: add IntegrationParameters::length_unit to adjust internal threshold based on user-defined length units 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
404e032433 feat: add soft (solver-based) ccd implementation 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
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
fabriceci
4ff84319a0 Allow customising the time until sleep for a rigid body 2023-01-23 22:18:35 +01:00
Sébastien Crozet
89fc31f996 Give access to the world-space mass properties of rigid-bodies 2023-01-15 12:24:14 +01:00
Sébastien Crozet
46d976d97b Allow disabling colliders, rigid-bodies and impulse joints 2022-12-11 15:20:33 +01:00
Sébastien Crozet
ba081fb6f5 Improve the API for initializing/setting mass-properties 2022-07-05 14:59:14 +02:00
Sébastien Crozet
6ce26f3818 CCD improvements 
- Fix bug where the CCD thickness wasn’t initialized properly.
- Fix bug where the contact compliance would result in unwanted tunelling, despite CCD being enabled.
 2022-05-30 18:29:18 +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
ee679427cd Fix mass-properties update after collider change 2022-04-20 17:11:06 +02:00
Sébastien Crozet
a9e3441ecd Rename rigid-body static to fixed 2022-03-20 21:49:16 +01:00
Sébastien Crozet
db6a8c526d Fix warnings and add comments. 2022-03-20 21:49:16 +01:00
Sébastien Crozet
8e07d8799f Rigid-body: don’t clear forces at end of timestep + don’t wake-up a rigid-body if the modified property is equal to the old value. 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
0703e5527f Fix some solver issues 
- 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
 2022-01-16 16:52:40 +01:00
Sébastien Crozet
b631fe9193 Allow locking individual translational axes 2022-01-09 22:15:36 +01:00
Sébastien Crozet
87ec0ced40 Address issues with the genral-case for multibody joints 2022-01-08 21:09:11 +01:00
Sébastien Crozet
f74b8401ad Implement multibody joints and the new solver 2022-01-02 16:58:36 +01:00
Sébastien Crozet
b45d4b5ac2 Track the change of effective dominance of a rigid-body. 2021-10-26 15:38:54 +02:00
Sébastien Crozet
b364a2b052 Fix velocity computation for position-based kinematic bodies 2021-09-12 01:49:09 -07:00
Waridley
9233a855f0 impl more traits for components 2021-07-11 18:22:39 +02:00
Crozet Sébastien
bccb7d4c66 Track the rigid-body graph IDs inside of the JointSet instead of RigidBodyIds 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
5ef81cda40 Add velocity-based kinematic bodies 2021-06-01 14:55:50 +02:00
Crozet Sébastien
826ce5f014 Rework the event system 2021-06-01 12:36:01 +02:00
Crozet Sébastien
2dfbd9ae92 Add comments. 2021-04-30 11:37:58 +02:00
Crozet Sébastien
83cb981a88 Fix regression in CCD resolution. 2021-04-27 16:43:24 +02:00
Crozet Sébastien
c32da78f2a Split rigid-bodies and colliders into multiple components 2021-04-26 18:00:50 +02:00