8173e7ada2
Allow collider modification after its insersion to the ColliderSet.
2021-03-29 14:54:54 +02:00
dec3e4197f
Small refactoring of the PhysicsPipeline.
2021-03-28 11:54:33 +02:00
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
710dd8d71e
Fix bug wher ethe broad-phase could miss some contacts pairs.
2021-03-26 18:16:51 +01:00
97157c9423
First working version of non-linear CCD based on single-substep motion-clamping.
2021-03-26 18:16:27 +01:00
326469a1df
Fix the last few bugs and unbounded memory usage.
2021-03-17 09:34:56 +01:00
d82a675b46
Experiment with a smaller region power basis.
2021-03-13 19:32:27 +01:00
b2c0f62003
Some tunning of the way layers are attributed to a collider.
2021-03-13 19:19:12 +01:00
3a1502be74
First complete implementation of the hierarchical SAP.
2021-03-13 18:00:58 +01:00
a967ace7d4
Start implementing SAPLayer creation and insertion.
2021-03-08 18:27:06 +01:00
7983c25606
Start introducing SAP layers.
2021-03-08 15:32:04 +01:00
0b80bc827c
Split the broad-phase code into multiple files.
2021-03-08 15:32:04 +01:00
4b637c66ca
Merge pull request #149 from dimforge/fix_wasm_solver
...
Fix regression in the WASM version of the velocity solver.
2021-03-08 15:31:36 +01:00
8dab63bda1
Fix regression in the WASM version of the velocity solver.
2021-03-08 15:14:54 +01:00
808ea02672
Merge pull request #141 from EmbarkStudios/per-collider-mass-props
...
Per collider mass props
2021-03-08 10:38:31 +01:00
0370e7e37d
Store either density or mass properties but not both
2021-03-08 10:12:12 +01:00
beaddea6f2
Merge pull request #146 from dimforge/implicit_friction_cone
...
Projection friction impulses on an implicit cone instead of a pyramid approximation.
2021-03-08 10:09:43 +01:00
05614dc471
docstring/spelling
...
Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:28 +01:00
22a402983c
docstring/spelling
...
Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:21 +01:00
5154233176
docstring/spelling
...
Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:13 +01:00
018cc23639
docstring/spelling
...
Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:07 +01:00
152ada67ec
Fix regression causing invalid contacts to be solved.
2021-03-07 17:34:54 +01:00
0e4393ba9e
Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart.
2021-03-07 17:15:32 +01:00
4cb1f5c692
Fix warning when targetting wasm.
2021-03-07 11:55:10 +01:00
bed47a82e7
Projection friction impulses on an implicit cone instead of a pyramidal approximation.
2021-03-07 11:44:19 +01:00
0909077094
Use Box<Option<MassProperties>> instead to save on memory
2021-03-05 12:04:27 +01:00
64af425227
Add ability to set MassProperties for each ColliderBuilder
...
Fix https://github.com/dimforge/rapier/issues/132
2021-03-05 11:57:08 +01:00
e7f805aea4
Merge pull request #140 from Waridley/joint_set_clone
...
Derive Clone for JointSet
2021-03-05 10:30:16 +01:00
5592daf7fa
Derive Clone for JointSet
2021-03-04 18:05:26 -06:00
5079d18bfb
Merge pull request #139 from EmbarkStudios/body-mass-props
...
Call update_world_mass_properties from RigidBody::set_mass_properties
2021-03-04 10:07:26 +01:00
589c6ce834
Call update_world_mass_properties from RigidBody::set_mass_properties
2021-03-04 09:09:29 +01:00
514176fd1a
Merge pull request #135 from EmbarkStudios/remove-unused-dependency
...
Remove unused dependency
2021-03-03 13:44:32 +01:00
2caa13ac67
Remove unused dependency serde_cbor
2021-03-03 11:31:58 +01:00
e3b9c5ad1c
Make vec_map an optional dependency
...
I is only used in simd
2021-03-03 11:30:10 +01:00
ac22afc41b
Remove unused dependency generational-arena
2021-03-03 11:22:17 +01:00
775910b214
Release testbed v0.6.1
2021-03-03 10:38:08 +01:00
a8216f5c24
Merge pull request #136 from dimforge/inertia_sqrt
...
Fix missing sqrt when setting the angular inertia of a RigidBodyBuilder
2021-03-03 10:35:54 +01:00
1609d93243
Fix missing sqrt when setting the angular inertia of a rigid-body.
2021-03-03 10:20:14 +01:00
6247b0d48a
Fix testbed compilation after the nalgebra release 0.6.1
2021-03-03 10:19:19 +01:00
a74097b4c6
Merge pull request #116 from EmbarkStudios/corrective-velocity-solve
...
Optional violation correction in velocity solver
2021-03-02 15:54:16 +01:00
449ed996d8
Release v0.6.1
2021-03-02 11:45:40 +01:00
a2da237a8a
Merge pull request #130 from dimforge/snapshot_determinism
...
Fix determinism issue after restoring a snapshot.
2021-03-02 11:43:19 +01:00
e45342d365
Fix determinism issue after restoring a snapshot.
2021-03-02 11:24:56 +01:00
4cd6819fbe
Release testbed v0.6.0
2021-03-01 16:45:03 +01:00
5d0aff0368
Merge pull request #129 from dimforge/v0.6.0
...
Release v0.6.0
2021-03-01 16:41:38 +01:00
5cc16419f3
Release v0.6.0
2021-03-01 16:27:08 +01:00
115bae172d
fix the body-body revolute angle velocity erp
2021-02-26 11:06:29 +01:00
f517601e17
Final cleanup
2021-02-26 11:06:29 +01:00
54eae9bb7b
simplify prismatic limits
2021-02-26 11:06:29 +01:00
4ef7b1cefe
Fix primatic wide
2021-02-26 11:06:29 +01:00
Crozet Sébastien
Emil Ernerfeldt
Waridley