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Author SHA1 Message Date
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
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
Emil Ernerfeldt
0909077094 Use Box<Option<MassProperties>> instead to save on memory 2021-03-05 12:04:27 +01:00
Emil Ernerfeldt
64af425227 Add ability to set MassProperties for each ColliderBuilder 
Fix https://github.com/dimforge/rapier/issues/132
 2021-03-05 11:57:08 +01:00
Sébastien Crozet
e7f805aea4 Merge pull request #140 from Waridley/joint_set_clone 
Derive Clone for JointSet
 2021-03-05 10:30:16 +01:00
Waridley
5592daf7fa Derive Clone for JointSet 2021-03-04 18:05:26 -06:00
Sébastien Crozet
5079d18bfb Merge pull request #139 from EmbarkStudios/body-mass-props 
Call update_world_mass_properties from RigidBody::set_mass_properties
 2021-03-04 10:07:26 +01:00
Emil Ernerfeldt
589c6ce834 Call update_world_mass_properties from RigidBody::set_mass_properties 2021-03-04 09:09:29 +01:00
Sébastien Crozet
514176fd1a Merge pull request #135 from EmbarkStudios/remove-unused-dependency 
Remove unused dependency
 2021-03-03 13:44:32 +01:00
Emil Ernerfeldt
2caa13ac67 Remove unused dependency serde_cbor 2021-03-03 11:31:58 +01:00
Emil Ernerfeldt
e3b9c5ad1c Make vec_map an optional dependency 
I is only used in simd
 2021-03-03 11:30:10 +01:00
Emil Ernerfeldt
ac22afc41b Remove unused dependency generational-arena 2021-03-03 11:22:17 +01:00
Crozet Sébastien
775910b214 Release testbed v0.6.1 2021-03-03 10:38:08 +01:00
Sébastien Crozet
a8216f5c24 Merge pull request #136 from dimforge/inertia_sqrt 
Fix missing sqrt when setting the angular inertia of a RigidBodyBuilder
 2021-03-03 10:35:54 +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
Crozet Sébastien
6247b0d48a Fix testbed compilation after the nalgebra release 0.6.1 2021-03-03 10:19:19 +01:00
Sébastien Crozet
a74097b4c6 Merge pull request #116 from EmbarkStudios/corrective-velocity-solve 
Optional violation correction in velocity solver
 2021-03-02 15:54:16 +01:00
Crozet Sébastien
449ed996d8 Release v0.6.1 2021-03-02 11:45:40 +01:00
Sébastien Crozet
a2da237a8a Merge pull request #130 from dimforge/snapshot_determinism 
Fix determinism issue after restoring a snapshot.
 2021-03-02 11:43:19 +01:00
Crozet Sébastien
e45342d365 Fix determinism issue after restoring a snapshot. 2021-03-02 11:24:56 +01:00
Crozet Sébastien
4cd6819fbe Release testbed v0.6.0 2021-03-01 16:45:03 +01:00
Sébastien Crozet
5d0aff0368 Merge pull request #129 from dimforge/v0.6.0 
Release v0.6.0
 2021-03-01 16:41:38 +01:00
Crozet Sébastien
5cc16419f3 Release v0.6.0 2021-03-01 16:27:08 +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