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365cce73f5586981afe741fdfd75fb7545472bab
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288 Commits

Author SHA1 Message Date
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
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
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
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
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
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
e45342d365 Fix determinism issue after restoring a snapshot. 2021-03-02 11:24:56 +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