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Author SHA1 Message Date
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
a8739036c0 chore: update changelog 2024-06-09 12:09:58 +02:00
Sébastien Crozet
02cade0440 feat: more urdf parser fixes + stl parser 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
Sébastien Crozet
5c44d936f7 feat: add urdf example 2024-06-09 12:09:58 +02:00
Sébastien Crozet
0446d4457f feat: continue urdf impl 2024-06-09 12:09:58 +02:00
Sébastien Crozet
d6a76833d9 feat: start implementation of rapier_urdf 2024-06-09 12:09:58 +02:00
Thierry Berger
d687fe97b1 fix: testbed: keyD removes only dynamic bodies as intended (#648) 2024-06-07 15:16:45 +02:00
Thierry Berger
79e9de826b Merge pull request #589 from whatf0xx/collider-builder-debug 
Derived Debug for ColliderBuilder
 2024-06-03 15:50:42 +02:00
Thierry Berger
1054894480 updated changelog 2024-06-03 15:24:04 +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
cfcbe58920 Merge pull request #639 from dimforge/fix-todo-range 
Fix trivial todo; removing a private type.
 2024-05-29 11:15:42 +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
798406e00d chore: update changelog 2024-05-25 12:00:15 +02:00
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
174778067d feat: ui to set the number of simulation steps per frame 2024-05-25 12:00:15 +02:00
Sébastien Crozet
15731373eb feat: add a benchmark with many individual pyramids 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
af1ac9baa2 Release v0.19.0 2024-05-05 18:33:35 +02:00
Sébastien Crozet
27f627902e fix: temporarily switch to the master branch of parry 2024-05-05 16:34:55 +02:00
Sébastien Crozet
89fcd4d281 chore: update changelog 2024-05-05 16:34:55 +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
2b095b65b2 chore: switch to git version of parry 2024-05-05 16:17:39 +02:00
Sébastien Crozet
1258bcbfe8 chore: update changelog 2024-05-05 16:17:39 +02:00
Sébastien Crozet
fcd4e71b43 feat: add a vertical wall to the 2D and 3D character controller examples 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
Bruce Mitchener
1b05b2ebfa Fix typo in clippy fix. 
This was supposed to be a `'('`, not a `')'`.

Fixes #596.
 2024-05-05 10:38:24 +02:00
Bruce Mitchener
ea323b3fc3 ci: Update actions/checkout from v3 to v4 2024-05-05 10:37:21 +02:00
Sébastien Crozet
a36f161ce6 fix compilation of tests 2024-04-30 23:10:46 +02:00
Sébastien Crozet
9cb4f018c8 fix: remove local cargo patches 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
97f7c1b4b2 fix: add a collision skin to the 2D trimesh demo 2024-04-30 23:10:46 +02:00