Sébastien Crozet
edaa36ac7e
chore: add more comments
2024-06-09 12:09:58 +02:00
Sébastien Crozet
0bdc620207
feat: add suport for kinematic multibody links
2024-06-09 12:09:58 +02:00
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
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
da92e5c283
Fix clippy and enable clippy on CI
2024-01-27 17:13:08 +01:00
Sébastien Crozet
bef72df32c
chore: CI fixes
2024-01-22 21:06:33 +01:00
Sébastien Crozet
9b87f06a85
feat: implement new "small-steps" solver + joint improvements
2024-01-21 21:02:27 +01:00
Sébastien Crozet
9b5ccb95e7
Update dependencies
2023-01-15 12:17:10 +01:00
Sébastien Crozet
f108520b5a
Finalize refactoring
2022-04-20 19:02:49 +02:00
Sébastien Crozet
2b1374c596
First round deleting the component sets.
2022-04-20 19:02:49 +02:00
Sébastien Crozet
db6a8c526d
Fix warnings and add comments.
2022-03-20 21:49:16 +01:00
Sébastien Crozet
815de4beff
Complete the parallel solver fix
2022-03-20 21:49:16 +01:00
Sébastien Crozet
0c7ebae1aa
Run cargo fmt
2022-01-23 18:04:24 +01:00
zhguchev
536122e080
add defaults for the several structs
2022-01-23 18:01:50 +01:00
Sébastien Crozet
0703e5527f
Fix some solver issues
...
- Fix the wrong codepath taken by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
2022-01-16 16:52:40 +01:00
Sébastien Crozet
b631fe9193
Allow locking individual translational axes
2022-01-09 22:15:36 +01:00
Sébastien Crozet
87ec0ced40
Address issues with the genral-case for multibody joints
2022-01-08 21:09:11 +01:00
Sébastien Crozet
f74b8401ad
Implement multibody joints and the new solver
2022-01-02 16:58:36 +01:00
