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100 Commits

Author SHA1 Message Date
Sébastien Crozet
f74b8401ad Implement multibody joints and the new solver 2022-01-02 16:58:36 +01:00
Sébastien Crozet
b364a2b052 Fix velocity computation for position-based kinematic bodies 2021-09-12 01:49:09 -07:00
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
bde6657287 Fix tests and wasm build. 2021-06-02 16:22:40 +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
dbb3c8f43b CCD: take collision groups into account 2021-06-01 14:56:24 +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
ac8ec8e351 Fix tests. 2021-04-29 13:03:54 +02:00
Crozet Sébastien
5cf805075e Fix compilation of the parallel version 2021-04-29 12:09:35 +02:00
Crozet Sébastien
705876f5e5 Restore the collision pipeline 2021-04-29 10:26:44 +02:00
Crozet Sébastien
c32da78f2a Split rigid-bodies and colliders into multiple components 2021-04-26 18:00:50 +02:00
Crozet Sébastien
5492736863 Remove useless comment. 2021-04-03 12:13:41 +02:00
Crozet Sébastien
5a0e6471cd Fix crash caused by a collider being remove before the first timestep. 2021-04-03 12:03:49 +02:00
Crozet Sébastien
a6b8b4b638 Fix tests. 2021-03-31 17:46:59 +02:00
Crozet Sébastien
4e84c122df Fix more warnings. 2021-03-31 16:55:18 +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
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
97157c9423 First working version of non-linear CCD based on single-substep motion-clamping. 2021-03-26 18:16:27 +01:00
Crozet Sébastien
3a1502be74 First complete implementation of the hierarchical SAP. 2021-03-13 18:00:58 +01:00
Crozet Sébastien
a60c6e5fdd Fix the compilation of tests. 2021-02-23 16:26:02 +01:00
Crozet Sébastien
f8bf96fdc8 Add a helper function for one-way platforms. 2021-02-23 15:48:04 +01:00
Crozet Sébastien
00706e8b36 Introduce the PhysicsHook trait used for both contact filtering and contact modification. 2021-02-23 11:24:54 +01:00
Emil Ernerfeldt
d999e0e8c6 Apply accelerations during velocity solver 
Closes https://github.com/dimforge/rapier/issues/97

Instead of applying accelerations from gravity and external forces
as a separate step, this PR switches to applying them in the velocity solver.
 2021-02-08 17:15:28 +01:00
Emil Ernerfeldt
85bc81d4fc Make clippy a bit happier 2021-02-04 13:11:04 +01:00
Crozet Sébastien
8f7220f03d Rename cdl to parry. 2021-01-24 11:13:44 +01:00
Crozet Sébastien
90db26eb50 Fix warnings in tests and testbed. 2021-01-23 13:34:03 +01:00
Crozet Sébastien
cf52e01308 Merge branch 'master' into split_geom 
# Conflicts:
#	examples2d/sensor2.rs
#	examples3d/sensor3.rs
#	src/dynamics/integration_parameters.rs
#	src/dynamics/solver/parallel_island_solver.rs
#	src/dynamics/solver/velocity_constraint.rs
#	src/dynamics/solver/velocity_ground_constraint.rs
#	src_testbed/nphysics_backend.rs
#	src_testbed/physx_backend.rs
#	src_testbed/testbed.rs
 2021-01-22 16:10:24 +01:00
Sébastien Crozet
e6fc8f67fa Merge pull request #88 from EmbarkStudios/refactor-params 
Small refactor of IntegrationParameters
 2021-01-22 15:53:08 +01:00
Emil Ernerfeldt
315493ebfb IntegrationParameters: deprectate dt() and inv_dt() methods 2021-01-22 13:38:59 +01:00
Emil Ernerfeldt
f9fe6f2e8d fix cargo test -p rapier3d 2021-01-21 21:31:09 +01:00
Crozet Sébastien
aa61fe65e3 Add support of 64-bits reals. 2021-01-04 15:14:25 +01:00
Crozet Sébastien
967145a949 Perform contact sorting in the narrow-phase directly. 2020-12-31 11:16:03 +01:00
Crozet Sébastien
29717c2887 Externalize the proximity code (renamed intersection). 2020-12-29 11:31:59 +01:00
Crozet Sébastien
2d4e14b869 Properly track some user-initiatied rigid-body modifications. 2020-11-25 16:28:49 +01:00
Crozet Sébastien
af39ec54d3 Remove the narrow-phase graph indices from the collider. 
They are on the narrow-phase now.
 2020-11-23 15:56:53 +01:00
Crozet Sébastien
3bfa407999 ContactPairFilter: don't overwrite the effect of the solver groups. 
This is more consistent with the fact that the effect of collision groups is not overwritten either.
 2020-10-27 16:49:24 +01:00
Crozet Sébastien
cc44b65094 Added user-implementable traits for collision/proximity pair filtering. 2020-10-27 16:12:40 +01:00
Crozet Sébastien
fc72aa6845 Fix examples. 2020-10-06 16:38:34 +02:00
Crozet Sébastien
e87b73a2a2 Fix compilation in 2D. 2020-10-06 15:49:22 +02:00
Crozet Sébastien
682ff61f94 Don't let the PubSub internal offsets overflow + fix some warnings. 2020-10-06 15:23:48 +02:00
Crozet Sébastien
721db2d49e Fix crash when deleting a collider. 2020-10-06 10:02:21 +02:00
Crozet Sébastien
93aa7b6e1e Use the publish-subscribe mechanism to handle collider removals across pipelines. 2020-10-05 19:04:18 +02:00
Crozet Sébastien
7b8e322446 Make kinematic bodies properly wake up dynamic bodies. 2020-09-28 15:27:25 +02:00
Crozet Sébastien
e16b7722be Fix crash caused by the removal of a kinematic body. 2020-09-28 15:27:25 +02:00
Sébastien Crozet
df2156ffd0 Allow the removal of a collider. 2020-08-31 19:05:14 +02:00
Sébastien Crozet
754a48b7ff First public release of Rapier. 2020-08-25 22:10:25 +02:00