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Author SHA1 Message Date
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
Sébastien Crozet
bd2dc781f3 Merge pull request #159 from dimforge/guides 
Add ARCHITECTURE, CODE_OF_CONDUCT, CONTRIBUTING files + flesh out the README
 2021-04-01 15:21:27 +02:00
Crozet Sébastien
19e43c44c8 Fix some typos and links. 2021-04-01 14:59:25 +02:00
Crozet Sébastien
160ae1ad3d README: fix missing html tag. 2021-04-01 14:50:19 +02:00
Crozet Sébastien
28efd73e24 Add ARCHITECTURE, CODE_OF_CONDUCT, CONTRIBUTING files + flesh out the README. 2021-04-01 14:47:20 +02:00
Sébastien Crozet
6e0c1cf8fb Merge pull request #158 from dimforge/query_pipeline_filter 
Add the ability to pass a custom filter to all the QueryPipeline queries.
 2021-04-01 12:12:20 +02:00
Crozet Sébastien
2006919347 Add the ability to pass a custom filter to all the QueryPipeline queries. 2021-04-01 11:02:48 +02:00
Sébastien Crozet
f8536e73fc Merge pull request #157 from dimforge/ccd 
Implement Continuous Collision Detection
 2021-04-01 11:00:27 +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
a484511718 ColliderSet::handle_user_changes - don't drain the set of modified colliders. 2021-03-31 18:12:00 +02:00
Crozet Sébastien
a6b8b4b638 Fix tests. 2021-03-31 17:46:59 +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
365cce73f5 Make the collider shape mutable. 2021-03-31 14:07:32 +02:00
Crozet Sébastien
3412e9ddbf Fix some warnings. 2021-03-31 12:35:54 +02:00
Crozet Sébastien
6272f778c3 Add missing example file. 2021-03-31 12:30:18 +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
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
710dd8d71e Fix bug wher ethe broad-phase could miss some contacts pairs. 2021-03-26 18:16:51 +01:00
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
326469a1df Fix the last few bugs and unbounded memory usage. 2021-03-17 09:34:56 +01:00
Crozet Sébastien
d82a675b46 Experiment with a smaller region power basis. 2021-03-13 19:32:27 +01:00
Crozet Sébastien
b2c0f62003 Some tunning of the way layers are attributed to a collider. 2021-03-13 19:19:12 +01:00
Crozet Sébastien
3a1502be74 First complete implementation of the hierarchical SAP. 2021-03-13 18:00:58 +01:00
Crozet Sébastien
a967ace7d4 Start implementing SAPLayer creation and insertion. 2021-03-08 18:27:06 +01:00
Crozet Sébastien
7983c25606 Start introducing SAP layers. 2021-03-08 15:32:04 +01:00
Crozet Sébastien
0b80bc827c Split the broad-phase code into multiple files. 2021-03-08 15:32:04 +01:00
Sébastien Crozet
4b637c66ca Merge pull request #149 from dimforge/fix_wasm_solver 
Fix regression in the WASM version of the velocity solver.
 2021-03-08 15:31:36 +01:00
Crozet Sébastien
8dab63bda1 Fix regression in the WASM version of the velocity solver. 2021-03-08 15:14:54 +01:00
Sébastien Crozet
808ea02672 Merge pull request #141 from EmbarkStudios/per-collider-mass-props 
Per collider mass props
 2021-03-08 10:38:31 +01:00
Emil Ernerfeldt
0370e7e37d Store either density or mass properties but not both 2021-03-08 10:12:12 +01:00
Sébastien Crozet
beaddea6f2 Merge pull request #146 from dimforge/implicit_friction_cone 
Projection friction impulses on an implicit cone instead of a pyramid approximation.
 2021-03-08 10:09:43 +01:00
Emil Ernerfeldt
05614dc471 docstring/spelling 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-03-08 10:04:28 +01:00
Emil Ernerfeldt
22a402983c docstring/spelling 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-03-08 10:04:21 +01:00
Emil Ernerfeldt
5154233176 docstring/spelling 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-03-08 10:04:13 +01:00
Emil Ernerfeldt
018cc23639 docstring/spelling 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-03-08 10:04:07 +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