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488aad0af3f772e14fd85b27bfff6c1db5d23829
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44 Commits

Author SHA1 Message Date
Sébastien Crozet
65824e74f3 Add comments for the debug-renderer 2022-04-28 17:30:35 +02:00
Sébastien Crozet
ae40f4cd7e Add collision event flags 2022-04-28 13:03:14 +02:00
Sébastien Crozet
9237bfd530 Remove the default-sets feature 2022-04-20 19:02:49 +02:00
Sébastien Crozet
d38740369c Emit collision stopped events after a collider is removed. 2022-03-20 21:49:16 +01:00
Sébastien Crozet
063c638ec5 Combine contact events and intersection events into a single event type and flags 2022-03-20 21:49:16 +01:00
Crozet Sébastien
729e510c00 Make BroadPhasePairEvent and ColliderPair public. 
Otherewise it is impossible to use BroadPhase::update properly.
 2021-07-30 11:09:15 +02:00
Crozet Sébastien
3cab54b880 Fix some warnings. 2021-04-27 14:37:39 +02:00
Crozet Sébastien
c32da78f2a Split rigid-bodies and colliders into multiple components 2021-04-26 18:00:50 +02:00
Crozet Sébastien
3a1502be74 First complete implementation of the hierarchical SAP. 2021-03-13 18:00:58 +01:00
Crozet Sébastien
babcab0bed Update the testbed to use PhysicsHooks. 2021-02-23 15:49:23 +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
Crozet Sébastien
8ff2bcc3ec Add all the missing docs. 2021-01-27 14:20:14 +01:00
Crozet Sébastien
4799a81214 Add missing constructor for a round-triangle collider. 2021-01-25 17:22:57 +01:00
Crozet Sébastien
8f7220f03d Rename cdl to parry. 2021-01-24 11:13:44 +01:00
Crozet Sébastien
e45e5f109c Fix WASM build. 2021-01-23 13:11:00 +01:00
Crozet Sébastien
57072f3ba7 Move ColliderShape out of Rapier. 2021-01-22 18:10:54 +01:00
Crozet Sébastien
98d3980db7 Allow several rules for combining friction/restitution coefficients. 2021-01-21 16:03:27 +01:00
Crozet Sébastien
7b098606c2 QueryPipeline: add shape casting, point projection, and intersection queries. 2020-12-31 16:30:38 +01:00
Crozet Sébastien
967145a949 Perform contact sorting in the narrow-phase directly. 2020-12-31 11:16:03 +01:00
Crozet Sébastien
348a339fe3 Remove code related to point-point kinematics. 2020-12-31 10:02:51 +01:00
Crozet Sébastien
43628c8846 Try using solver contacts again, but in a more cache-coherent way. 2020-12-30 17:30:07 +01:00
Crozet Sébastien
94c67a0c31 Support compound shapes. 2020-12-29 11:36:19 +01:00
Crozet Sébastien
0d2eb5f2e0 Remove some commented code. 2020-12-29 11:31:59 +01:00
Crozet Sébastien
8fe2df126a Remove some irrelevant code. 2020-12-29 11:31:59 +01:00
Crozet Sébastien
29717c2887 Externalize the proximity code (renamed intersection). 2020-12-29 11:31:59 +01:00
Crozet Sébastien
e231bacec6 Move all the contact manifold computations out of Rapier. 2020-12-29 11:31:00 +01:00
Crozet Sébastien
cc6d1b9730 Outsource the Shape trait, wquadtree, and shape types. 2020-12-29 11:31:00 +01:00
Crozet Sébastien
9bf1321f8f Outsource the contact manifold, SAT, and some shapes. 2020-12-29 11:31:00 +01:00
Crozet Sébastien
cc44b65094 Added user-implementable traits for collision/proximity pair filtering. 2020-10-27 16:12:40 +01:00
Crozet Sébastien
cb6a7ff946 Add solver flags for controlling whether or not some contacts should be taken into account by the constraints solver. 2020-10-27 14:35:01 +01:00
Crozet Sébastien
3def91d62e Add collision groups to filter collision pairs. 2020-10-27 14:35:01 +01:00
Crozet Sébastien
ffbc3c02c7 Fix 2D compilation. 2020-10-27 09:25:58 +01:00
Crozet Sébastien
8c872dc0af Replace the Rounded<S> type by a non-generic RoundCylinder type. 2020-10-27 09:20:44 +01:00
Crozet Sébastien
2b628f9580 Redefine capsules as a segment with a radius, allowing us to reuse the pfm_pfm_contact generator for it. 2020-10-26 15:58:30 +01:00
Crozet Sébastien
6495847095 Add rounded cylinder. 2020-10-20 15:57:54 +02:00
Crozet Sébastien
d513c22d33 Add cone support. 2020-10-20 14:16:01 +02:00
Crozet Sébastien
865ce8a8e5 Collider shape: use a trait-object instead of an enum. 2020-10-20 11:56:09 +02:00
Crozet Sébastien
faf3e7e0f7 Implement a special case for edge-edge 3D polygonal clipping. 2020-10-13 18:41:11 +02:00
Crozet Sébastien
faec3d5d46 Start adding cylinders. 2020-10-12 18:33:58 +02:00
Crozet Sébastien
60c4d01e0a Completely remove the WAABBHierarchy structure. 
It is now replaced by the WQuadtree.
 2020-10-06 11:37:48 +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
2dda0e5ce4 Complete the WQuadtree construction and ray-cast. 2020-09-28 15:27:25 +02:00
Sébastien Crozet
3c85a6ac41 Start implementing ray-casting. 
This adds a QueryPipeline structure responsible for scene queries.
Currently this structure is able to perform a brute-force ray-cast.
This commit also includes the beginning of implementation of a SIMD-based acceleration structure which will be used for these scene queries in the future.
 2020-09-28 15:27:25 +02:00
Sébastien Crozet
754a48b7ff First public release of Rapier. 2020-08-25 22:10:25 +02:00