7306821c46
Attenuate the warmstart impulse for CCD contacts.
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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
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
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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
05614dc471
docstring/spelling
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:28 +01:00
22a402983c
docstring/spelling
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:21 +01:00
5154233176
docstring/spelling
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:13 +01:00
018cc23639
docstring/spelling
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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
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Fix https://github.com/dimforge/rapier/issues/132
2021-03-05 11:57:08 +01:00
5592daf7fa
Derive Clone for JointSet
2021-03-04 18:05:26 -06:00
589c6ce834
Call update_world_mass_properties from RigidBody::set_mass_properties
2021-03-04 09:09:29 +01:00
1609d93243
Fix missing sqrt when setting the angular inertia of a rigid-body.
2021-03-03 10:20:14 +01:00
a74097b4c6
Merge pull request #116 from EmbarkStudios/corrective-velocity-solve
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Optional violation correction in velocity solver
2021-03-02 15:54:16 +01:00
e45342d365
Fix determinism issue after restoring a snapshot.
2021-03-02 11:24:56 +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
a0824772c9
fix the revolute wide
2021-02-26 11:06:29 +01:00
9bbb081539
fix narrow revolute velocity
2021-02-26 11:06:29 +01:00
4ee09a8bc9
Fix the narrow pismatic velocity constraint
2021-02-26 11:06:29 +01:00
59796e4767
fix
2021-02-26 11:06:29 +01:00
b94cdfa782
Implement ground wide
2021-02-26 11:06:29 +01:00
48afbac6ce
Implement revolute wide
2021-02-26 11:06:29 +01:00
89de6903dc
Implement prismatic wide
2021-02-26 11:06:29 +01:00
27366e27ff
Implement fixed wide
2021-02-26 11:06:29 +01:00
48708d9a76
Implement revolute narrow
2021-02-26 11:06:29 +01:00
d3f39a9bab
Implemented prismatic narrow. Needs testing and close review
2021-02-26 11:06:29 +01:00
ede4f0f770
cleanup
2021-02-26 11:06:29 +01:00
3f26b46196
Implement ball wide
2021-02-26 11:06:29 +01:00
4162aed2a0
Add params.velocity_based_erp_inv_dt() helper
2021-02-26 11:06:29 +01:00
21247a1236
Add restorative impulse in velocity solver
2021-02-26 11:06:29 +01:00
1c5601c84b
Merge pull request #124 from dimforge/modify_contact_normal
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Contact modification: make the contact normal modifiable too.
2021-02-25 15:53:06 +01:00
f53d0438ed
Contact modification: make the contact normal modifiable too.
2021-02-25 15:40:54 +01:00
f41a6fb76d
Merge pull request #122 from dimforge/dominance
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Implement dominance groups
2021-02-25 15:38:10 +01:00
277d74fb18
less mut
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-02-24 15:59:11 +01:00
Crozet Sébastien
Emil Ernerfeldt
Waridley