Crozet Sébastien
ad5c10672e
Use contact ids instead of contact reordering in order to identify the impulse writeback location.
2021-02-22 17:52:03 +01:00
Emil Ernerfeldt
5e7eedc3fd
Always apply the predictive contact term, even for bouncing contacts
2021-02-18 17:58:17 +01:00
Emil Ernerfeldt
f9e3d382d2
New contacts are bouncy, old are resting
...
If a contact is new (previous impluse = 0), then we treat it as bouncy (respecting restitution).
If the contact is old we treat it as resting.
Exceptions for restitutions <=0 and >= 1.
2021-02-18 15:41:46 +01:00
Crozet Sébastien
e45e5f109c
Fix WASM build.
2021-01-23 13:11:00 +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
95c6199a9a
Remove IntegrationParameters::inv_dt and make dt pub
2021-01-22 13:32:18 +01:00
Crozet Sébastien
8f330b2a00
Rotation locking: apply filter only to the world inertia properties to fix the multi-collider case.
2021-01-21 14:58:40 +01:00
Crozet Sébastien
c28b14d31c
Refactor the parallel solver code the same way we did with the non-parallel solver.
2021-01-04 17:59:56 +01:00
Crozet Sébastien
aa61fe65e3
Add support of 64-bits reals.
2021-01-04 15:14:25 +01:00
Crozet Sébastien
967145a949
Perform contact sorting in the narrow-phase directly.
2020-12-31 11:16:03 +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
9bf1321f8f
Outsource the contact manifold, SAT, and some shapes.
2020-12-29 11:31:00 +01:00
Crozet Sébastien
502be0245c
Add restitution.
2020-11-03 11:22:30 +01:00
Sébastien Crozet
9622827dc6
Fix constraints resolution with non-identity relative collider position.
2020-09-01 14:02:59 +02:00
Sébastien Crozet
c286f44c4e
Constraint solver: properly take non-zero center of masses into account.
2020-08-31 19:05:14 +02:00
Sébastien Crozet
754a48b7ff
First public release of Rapier.
2020-08-25 22:10:25 +02:00
