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95bd6fcfeb6cfcf15fd47db835c2f9a4fa73028d
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7 Commits

Author SHA1 Message Date
Sébastien Crozet
95bd6fcfeb feat: switch to the new Bvh from parry for the broad-phase (#853) 
* feat: switch to the new Bvh from parry for the broad-phase

* chore: cargo fmt + update testbed

* chore: remove the multi-grid SAP broad-phase

* fix soft-ccd handling in broad-phase

* Fix contact cleanup in broad-phase after collider removal

* chore: clippy fixes

* fix CCD regression

* chore: update changelog

* fix build with the parallel feature enabled

* chore: remove the now useless broad-phase proxy index from colliders

* fix tests
 2025-07-11 22:36:40 +02:00
Sébastien Crozet
ed8645e34c feat: remove the "fast constraint" special case 2024-05-25 12:00:15 +02:00
Sébastien Crozet
f58b4f7c19 feat: add warmstarting to contact constraints resolution 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
09af4313fa Fix reported contact impulse in the contact force event 
Address https://github.com/dimforge/rapier.js/issues/261
 2024-03-23 16:28:48 +01:00
Sébastien Crozet
da92e5c283 Fix clippy and enable clippy on CI 2024-01-27 17:13:08 +01:00
Sébastien Crozet
9b87f06a85 feat: implement new "small-steps" solver + joint improvements 2024-01-21 21:02:27 +01:00