4e84c122df
Fix more warnings.
2021-03-31 16:55:18 +02:00
80f487fd4a
Test to see how the warmstart correction affect the benchmarks.
2021-03-31 16:35:33 +02:00
3412e9ddbf
Fix some warnings.
2021-03-31 12:35:54 +02:00
d82fc0d23d
Fix body status modification.
2021-03-31 12:09:09 +02:00
1187ef796d
Rename some RigidBodyBuilder mass-related setters to include "additional".
2021-03-31 10:55:36 +02:00
e9f6384081
Fix the parallel solver to work properly with CCD.
2021-03-31 10:53:44 +02:00
88933bd431
Run the position solver after the CCD motion clamping.
2021-03-30 17:11:52 +02:00
d2ee642053
CCD: take angular motion and penetration depth into account in various thresholds.
2021-03-30 17:10:50 +02:00
c3a0c67272
Add missing files.
2021-03-29 17:23:05 +02:00
a733f97028
Implement the ability to run multiple CCD substeps.
2021-03-29 17:21:49 +02:00
8173e7ada2
Allow collider modification after its insersion to the ColliderSet.
2021-03-29 14:54:54 +02:00
7306821c46
Attenuate the warmstart impulse for CCD contacts.
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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
97157c9423
First working version of non-linear CCD based on single-substep motion-clamping.
2021-03-26 18:16:27 +01:00
8dab63bda1
Fix regression in the WASM version of the velocity solver.
2021-03-08 15:14:54 +01:00
152ada67ec
Fix regression causing invalid contacts to be solved.
2021-03-07 17:34:54 +01:00
0e4393ba9e
Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart.
2021-03-07 17:15:32 +01:00
4cb1f5c692
Fix warning when targetting wasm.
2021-03-07 11:55:10 +01:00
bed47a82e7
Projection friction impulses on an implicit cone instead of a pyramidal approximation.
2021-03-07 11:44:19 +01:00
5592daf7fa
Derive Clone for JointSet
2021-03-04 18:05:26 -06:00
589c6ce834
Call update_world_mass_properties from RigidBody::set_mass_properties
2021-03-04 09:09:29 +01:00
1609d93243
Fix missing sqrt when setting the angular inertia of a rigid-body.
2021-03-03 10:20:14 +01:00
115bae172d
fix the body-body revolute angle velocity erp
2021-02-26 11:06:29 +01:00
f517601e17
Final cleanup
2021-02-26 11:06:29 +01:00
54eae9bb7b
simplify prismatic limits
2021-02-26 11:06:29 +01:00
4ef7b1cefe
Fix primatic wide
2021-02-26 11:06:29 +01:00
a0824772c9
fix the revolute wide
2021-02-26 11:06:29 +01:00
9bbb081539
fix narrow revolute velocity
2021-02-26 11:06:29 +01:00
4ee09a8bc9
Fix the narrow pismatic velocity constraint
2021-02-26 11:06:29 +01:00
59796e4767
fix
2021-02-26 11:06:29 +01:00
b94cdfa782
Implement ground wide
2021-02-26 11:06:29 +01:00
48afbac6ce
Implement revolute wide
2021-02-26 11:06:29 +01:00
89de6903dc
Implement prismatic wide
2021-02-26 11:06:29 +01:00
27366e27ff
Implement fixed wide
2021-02-26 11:06:29 +01:00
48708d9a76
Implement revolute narrow
2021-02-26 11:06:29 +01:00
d3f39a9bab
Implemented prismatic narrow. Needs testing and close review
2021-02-26 11:06:29 +01:00
ede4f0f770
cleanup
2021-02-26 11:06:29 +01:00
3f26b46196
Implement ball wide
2021-02-26 11:06:29 +01:00
4162aed2a0
Add params.velocity_based_erp_inv_dt() helper
2021-02-26 11:06:29 +01:00
21247a1236
Add restorative impulse in velocity solver
2021-02-26 11:06:29 +01:00
f41a6fb76d
Merge pull request #122 from dimforge/dominance
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Implement dominance groups
2021-02-25 15:38:10 +01:00
277d74fb18
less mut
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-02-24 15:59:11 +01:00
69afb2914a
less mut
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-02-24 15:59:06 +01:00
504b84bb06
Add JointSet::get_mut and get_unknown_gen_mut
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Fix https://github.com/dimforge/rapier/issues/121
2021-02-24 15:20:48 +01:00
9cdd34c741
Fix the parallel build.
2021-02-24 13:40:26 +01:00
96ecb877e2
Implement dominance.
2021-02-24 13:26:51 +01:00
3cc2738e5f
Fix warnings in the WASM build.
2021-02-23 16:47:48 +01:00
b3405e5672
Add a method to modify all the active dynamic bodies on the RigidBodySet.
2021-02-23 15:47:44 +01:00
3fdb4cd6d3
Properly take the tangent_velocity into account in the velocity solver.
2021-02-23 15:47:24 +01:00
ad5c10672e
Use contact ids instead of contact reordering in order to identify the impulse writeback location.
2021-02-22 17:52:03 +01:00
d31a327b45
Merge pull request #119 from dimforge/joint_drive
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Add joint motors
2021-02-22 17:40:29 +01:00
Crozet Sébastien
Waridley
Emil Ernerfeldt