Thierry Berger
05c3925884
fix: Fixed typo in castShape functions ( #653 )
2024-06-13 11:31:49 +02:00
Thierry Berger
9367198282
feat: rework QueryPipeline update API to take less parameters ( #647 )
...
* chore: rework QueryPipeline API to take a generic qbvh updater
This allows to pass less parameters depending on the updating mode.
* chore: rework struct and functions names, and docs
---------
Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com >
2024-06-09 14:16:03 +02:00
Thierry Berger
8160b4ebdb
feat: change the character controller’s solve_character_collision_impulses to take multiple CharacterCollision ( #646 )
...
* character controller: solve multiple collisions
* add solve multiple collisions to changelog
* chore: apply review comments
---------
Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com >
2024-06-09 13:20:58 +02:00
Sébastien Crozet
a8a0f297f5
feat: add RevoluteJoint::angle to compute the revolute joint’s angle
2024-06-09 13:20:09 +02:00
Sébastien Crozet
a5a4152815
fix warning in tests
2024-06-09 12:09:58 +02:00
Sébastien Crozet
ad960bf245
chore: clippy fixes
2024-06-09 12:09:58 +02:00
Sébastien Crozet
edaa36ac7e
chore: add more comments
2024-06-09 12:09:58 +02:00
Sébastien Crozet
98e32b7f3c
fix 2D compilation
2024-06-09 12:09:58 +02:00
Sébastien Crozet
0bdc620207
feat: add suport for kinematic multibody links
2024-06-09 12:09:58 +02:00
Sébastien Crozet
d9585de20b
feat: add the ability to disable all contacts between two links belonging to the same multibody
2024-06-09 12:09:58 +02:00
Sébastien Crozet
2041c9549d
feat: let user specify joints that cannot move for IK
2024-06-09 12:09:58 +02:00
Sébastien Crozet
9865d5836a
feat: add MeshConverter and Colliders::converted_trimesh for building a collider with a shape computed form mesh buffers
2024-06-09 12:09:58 +02:00
Sébastien Crozet
d127af7816
feat: make RigidBody::add_collider private
...
Colliders must only be added through the `ColliderSet`.
2024-06-09 12:09:58 +02:00
Sébastien Crozet
5922612ef3
feat: impl Default for RigidBodyBuilder and ColliderBuilder
2024-06-09 12:09:58 +02:00
Sébastien Crozet
c785ea4996
feat: rename JointAxesMask::X/Y/Z by ::LIN_X/LIN_Y/LIN_Z and JointAxis::X/Y/Z by ::LinX/LinY/LinZ
2024-06-09 12:09:58 +02:00
Thierry Berger
e1ed90603e
Merge branch 'master' into collider-builder-debug
2024-06-03 15:20:24 +02:00
Thierry Berger
856675032e
Merge pull request #636 from waywardmonkeys/fix-spelling-in-variable
...
Fix typo in internal variable name.
2024-06-03 15:13:36 +02:00
Thierry Berger
a1b36b0629
fix todo; removing a private type.
...
Seems unblocked since rust 1.51
2024-05-29 09:01:59 +02:00
Bruce Mitchener
f13ca5cf1c
Fix typo in internal variable name.
2024-05-25 22:20:27 +07:00
Sébastien Crozet
cdec395d09
feat: rename cfm_factor, damping_ratio to contact_cfm_factor and contact_damping_ratio
2024-05-25 12:00:15 +02:00
Sébastien Crozet
4737a96169
fix: allow enexpected_cfgs
2024-05-25 12:00:15 +02:00
Sébastien Crozet
ed8645e34c
feat: remove the "fast constraint" special case
2024-05-25 12:00:15 +02:00
Sébastien Crozet
fdd935dbf1
feat: make the constraints regularization coefficients configurable with angular frequency instead of explicit ERP
2024-05-25 12:00:15 +02:00
Sébastien Crozet
62379de9ec
feat: add simple inverse-kinematics solver for multibodies ( #632 )
...
* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies
* feat: add 2d inverse kinematics example
* feat: make forward_kinematics auto-fix the root’s degrees of freedom
* feat: add 3d inverse kinematics example
* chore: update changelog
* chore: clippy fixes
* chore: more clippy fixes
* fix tests
2024-05-25 10:36:34 +02:00
Sébastien Crozet
0d76a55d80
chore: don’t return &mut Self with GenericJoint::flip
2024-05-05 16:34:55 +02:00
Fun Maker
4332818e02
Fix joint limits not being flipped in one body constrains. ( #549 )
2024-05-05 16:34:55 +02:00
Fun Maker
a2fdeab7e1
Removed leftovers from block breaks stabilization.
2024-05-05 16:34:55 +02:00
Sébastien Crozet
e4d6755c15
chore: clippy fixes
2024-05-05 16:17:39 +02:00
Sébastien Crozet
425b2fc83d
chore: misc typo fixes
2024-05-05 16:17:39 +02:00
Sébastien Crozet
d0866d4232
feat: rename CharacterCollision::toi to hit
2024-05-05 16:17:39 +02:00
Sébastien Crozet
7565e5e4ef
chore: update to the latest parry api
2024-05-05 16:17:39 +02:00
Sébastien Crozet
dbefeb0418
feat: don’t enable character controller autostepping by default
2024-05-05 16:17:39 +02:00
Sébastien Crozet
3222d67871
Fix character controller getting stuck against vertical walls
2024-05-05 16:17:39 +02:00
Bruce Mitchener
7375a691e2
Fix some typos. ( #620 )
2024-05-05 12:11:38 +02:00
Sébastien Crozet
a36f161ce6
fix compilation of tests
2024-04-30 23:10:46 +02:00
Sébastien Crozet
0a9153e273
chore: clippy fixes
2024-04-30 23:10:46 +02:00
Sébastien Crozet
929aa6b925
feat: rename collision_skin to contact_skin
2024-04-30 23:10:46 +02:00
Sébastien Crozet
5867d2e78d
fix: include the 0.5 factor in pseudo (mass-normalized) kinetic energy calculation
2024-04-30 23:10:46 +02:00
Sébastien Crozet
664645159d
feat: implement collision skin
2024-04-30 23:10:46 +02:00
Sébastien Crozet
c079452a47
feat: add IntegrationParameters::length_unit to adjust internal threshold based on user-defined length units
2024-04-30 23:10:46 +02:00
Sébastien Crozet
6635d49c8b
feat: add configurable distance cap to soft-ccd
2024-04-30 23:10:46 +02:00
Sébastien Crozet
33dd38016c
feat: add a capsule collider constructor from endpoints.
2024-04-30 23:10:46 +02:00
Sébastien Crozet
f58b4f7c19
feat: add warmstarting to contact constraints resolution
2024-04-30 23:10:46 +02:00
Sébastien Crozet
de5e871cd1
chore: rework vertical stacks demo
2024-04-30 23:10:46 +02:00
Sébastien Crozet
9c5c14070d
feat: add variable constraints stabilization iteration number
2024-04-30 23:10:46 +02:00
Sébastien Crozet
404e032433
feat: add soft (solver-based) ccd implementation
2024-04-30 23:10:46 +02:00
Sébastien Crozet
3ddf2441ea
feat: add exact mlcp solver for pais of 2 constraints
2024-04-30 23:10:46 +02:00
Sébastien Crozet
15c07cfeb3
feat: make narrow-phase filter-out predictive solver contact based on contact velocity
2024-04-30 23:10:46 +02:00
Sébastien Crozet
a44f39a7b6
fix contact debug-rendering for compound shapes
2024-04-30 23:10:46 +02:00
Sébastien Crozet
7cbbb8e87b
feat: add Collider::heightfield_with_flags
2024-04-30 23:10:46 +02:00
