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168 Commits

Author SHA1 Message Date
Crozet Sébastien
a733f97028 Implement the ability to run multiple CCD substeps. 2021-03-29 17:21:49 +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
97157c9423 First working version of non-linear CCD based on single-substep motion-clamping. 2021-03-26 18:16:27 +01:00
Crozet Sébastien
a967ace7d4 Start implementing SAPLayer creation and insertion. 2021-03-08 18:27:06 +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
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
e9f17f32e8 Complete the implementation of non-simd joint motor for the revolute joint. 2021-02-19 15:21:25 +01:00
Crozet Sébastien
5b80c4efbf Start experimenting with a generic joint implementation for joint drives. 2021-02-11 15:58:46 +01:00
Crozet Sébastien
e24d73a255 Don't serialize solver contacts + remove erased-serde dependency. 2021-02-08 10:47:58 +01:00
Crozet Sébastien
a3324f8513 Fix compilation of the 3D testbed. 2021-01-26 16:59:30 +01:00
Crozet Sébastien
23a86c294e Allow using polylines as a collider shape. 2021-01-26 16:41:21 +01:00
Crozet Sébastien
8f7220f03d Rename cdl to parry. 2021-01-24 11:13:44 +01:00
Crozet Sébastien
90db26eb50 Fix warnings in tests and testbed. 2021-01-23 13:34:03 +01:00
Crozet Sébastien
00caa7ce35 Fix warnings and 2D compilation when parallelism is ON but SIMD is OFF. 2021-01-23 13:02:06 +01:00
Crozet Sébastien
b779eb261e Fix compilation in 2D. 2021-01-22 16:43:16 +01:00
Crozet Sébastien
99c2184e13 Fix regressions introduced by the merge with master. 2021-01-22 16:33:55 +01:00
Crozet Sébastien
cf52e01308 Merge branch 'master' into split_geom 
# Conflicts:
#	examples2d/sensor2.rs
#	examples3d/sensor3.rs
#	src/dynamics/integration_parameters.rs
#	src/dynamics/solver/parallel_island_solver.rs
#	src/dynamics/solver/velocity_constraint.rs
#	src/dynamics/solver/velocity_ground_constraint.rs
#	src_testbed/nphysics_backend.rs
#	src_testbed/physx_backend.rs
#	src_testbed/testbed.rs
 2021-01-22 16:10:24 +01:00
Emil Ernerfeldt
315493ebfb IntegrationParameters: deprectate dt() and inv_dt() methods 2021-01-22 13:38:59 +01:00
Crozet Sébastien
d69b5876f3 Fix velocity constraints for ball joints involving bodies with non-uniform angular inertia. 
Fix #86
 2021-01-20 17:20:01 +01:00
Crozet Sébastien
28b7866aee Switch to [u32; DIM] instead of Point<u32> for element indices. 2021-01-20 15:40:00 +01:00
Crozet Sébastien
e2006599a8 Add 3D convex decomposition example. 2021-01-20 15:15:33 +01:00
Crozet Sébastien
261ed1ebed Fix 2D compilation. 2021-01-06 12:53:26 +01:00
Crozet Sébastien
d1ed279c4e Tesbted physx backend: add heightfield, trimesh, and convex mesh support. 2021-01-06 12:22:46 +01:00
Crozet Sébastien
1e9a962d34 Testbed physx backend: re-add joints. 2021-01-05 17:07:26 +01:00
Crozet Sébastien
00da4aaa42 Add compound shape support. 2021-01-05 15:34:48 +01:00
rezural
34e79e9afc unify callbacks with & without graphics & window 2021-01-02 16:46:52 +11:00
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
rezural
ed76291fbf remove some unused imports 2020-12-31 15:39:44 +11:00
rezural
5fb9304f4c remove time from plugin.run_callbacks 2020-12-31 15:33:33 +11:00
rezural
6d5b6d778d remove time field from HarnessPlugin trait 2020-12-31 15:29:09 +11:00
rezural
c300ce760c cargo fmt 2020-12-31 15:26:11 +11:00
rezural
6f508e5d04 remove redundant time :f32 from harness callbacks. it can be access via run_state.time 2020-12-31 15:23:25 +11:00
rezural
1ac2d03fea Revert "leading _ for run_state to squash warning" 
This reverts commit aaf2872e5c.
 2020-12-31 13:56:37 +11:00
rezural
26af08e03c add harness_mut() to testbed 2020-12-31 13:25:05 +11:00
rezural
d992ebc488 remove unused use 2020-12-31 13:06:29 +11:00
rezural
aaf2872e5c leading _ for run_state to squash warning 2020-12-31 13:06:13 +11:00
rezural
d51008903d remove plugin callback related code from testbed 2020-12-31 12:14:38 +11:00
rezural
47e0ad4425 Update src_testbed/testbed.rs 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2020-12-31 12:00:33 +11:00
rezural
d75d325b49 remove comment 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2020-12-31 11:52:24 +11:00
rezural
75c80bff5f TODO comment update 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2020-12-31 11:47:02 +11:00
Crozet Sébastien
5876a262da Remove the useless manifold.data.pair field. 2020-12-30 11:44:08 +01:00
Crozet Sébastien
94c67a0c31 Support compound shapes. 2020-12-29 11:36:19 +01:00
Crozet Sébastien
8d925a02ef Add convex polygons support. 2020-12-29 11:31:59 +01:00
Crozet Sébastien
27ebb541f8 Start upgrading to physx 0.10. 2020-12-29 11:31:59 +01:00
Crozet Sébastien
486fbd972f Add example for 3D convex polyhedron. 2020-12-29 11:31:59 +01:00
Crozet Sébastien
0fb4b4faef Use Isometry::inv_mul. 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