Thierry Berger
0f5b4a4d88
feat: changed some QueryPipeline API to be more library friendly ( #863 )
2025-07-24 16:21:55 +02:00
Sébastien Crozet
95bd6fcfeb
feat: switch to the new Bvh from parry for the broad-phase ( #853 )
...
* feat: switch to the new Bvh from parry for the broad-phase
* chore: cargo fmt + update testbed
* chore: remove the multi-grid SAP broad-phase
* fix soft-ccd handling in broad-phase
* Fix contact cleanup in broad-phase after collider removal
* chore: clippy fixes
* fix CCD regression
* chore: update changelog
* fix build with the parallel feature enabled
* chore: remove the now useless broad-phase proxy index from colliders
* fix tests
2025-07-11 22:36:40 +02:00
Thierry Berger
9c9ba4570e
testbed: add gravity control + character controller speed control ( #822 )
2025-07-11 15:31:58 +02:00
Sébastien Crozet
ef3662b3b1
chore: clippy fixes
2025-05-16 19:27:02 +02:00
Sébastien Crozet
4cf4524cc6
chore: add ccd test to voxels examples
2025-05-02 15:16:43 +02:00
Sébastien Crozet
e44f636249
feat: add support for Voxels collider ( #823 )
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* feat: start adding voxels support and some additional testbed demo settings
* feat: add support for parry’s new Voxels collider shape
* fix voxels demos
* feat: support rectangular voxels and additional voxels initialization
* chore: switch to parry 0.20
* chore: fix cargo doc
* Fix testbed build
2025-04-24 12:11:53 +02:00
Sébastien Crozet
49fba6cd54
feat: rename AxisMask to AxesMask + enable LIN_Z only in 3D ( #805 )
2025-03-05 18:07:19 +01:00
Sébastien Crozet
108a2a18d6
feat: add PD and PID controller implementations ( #804 )
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* feat: add a PID controller implementation
* feat: add small rigid-body utilities + test interpolation test
* fix: make scrolling weaker on macos
* feat: add the option to use the PID controller in the character controller demo.
* feat: add a stateless PD controller
* feat(rapier_testbed): cleanup & support PidController in 2D too
* chore: add comments for the PD and PID controllers
* chore: update changelog
* feat: rename PidErrors to PdErrors which is more accurate
* fix cargo doc
* chore: remove dead code
* chore: make test module non-pub
2025-03-05 14:06:49 +01:00
Sébastien Crozet
5ca6ae9106
feat(rapier_testbed): autosave testbed configuration + add support for per-example settings ( #799 )
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* feat(rapier_testbed): autosave testbed configuration + add support for per-example parameters
* feat(rapier_testbed): also save the camera position
* feat(rapier_testbed): improve ergonomics of example-specific settings
* chore: cargo fmt
* chore(rapier_testbed): small UI ergonomics improvement
* chore(rapier_testbed): clippy fixes
2025-02-21 17:52:46 +01:00
Thierry Berger
dc4bd24da8
Update to Parry 0.18 ( #770 )
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* update to parry ~main
* use traverse_depth_first
* add example to test intersection
* rely on upstream PR rather than local
* re-enable profiler_ui for examples
* rely on official parry repository
* chore: switch back to the published version of parry
* chore: update changelog
* chore: remove dead code
* fix compilation of rapier3d-meshloader and rapier3d-urdf
* chore: cargo fmt
---------
Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com >
2025-01-08 17:16:34 +01:00
Thierry Berger
93bd37d814
fix clippy needless lifetimes ( #769 )
...
+ ignore them for bevy where we often want explicitness
2024-12-05 15:55:12 +01:00
Thierry Berger
510237cc29
Profiling support ( #743 )
2024-11-19 16:33:26 +01:00
Thierry Berger
364b5b7c37
Color visualization for grounded character controller ( #705 )
2024-08-02 11:49:45 +02:00
Sébastien Crozet
ad960bf245
chore: clippy fixes
2024-06-09 12:09:58 +02:00
Sébastien Crozet
edaa36ac7e
chore: add more comments
2024-06-09 12:09:58 +02:00
Sébastien Crozet
62379de9ec
feat: add simple inverse-kinematics solver for multibodies ( #632 )
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* 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
fcd4e71b43
feat: add a vertical wall to the 2D and 3D character controller examples
2024-05-05 16:17:39 +02:00
Bruce Mitchener
7375a691e2
Fix some typos. ( #620 )
2024-05-05 12:11:38 +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
Sébastien Crozet
33dd38016c
feat: add a capsule collider constructor from endpoints.
2024-04-30 23:10:46 +02:00
Sébastien Crozet
f58b4f7c19
feat: add warmstarting to contact constraints resolution
2024-04-30 23:10:46 +02:00
Sébastien Crozet
da79d6fb5b
feat: add "compression" debug-example
2024-04-30 23:10:46 +02:00
Sébastien Crozet
3ad9c5ad3b
feat: add a few more debug demos
2024-04-30 23:10:46 +02:00
Sébastien Crozet
da92e5c283
Fix clippy and enable clippy on CI
2024-01-27 17:13:08 +01:00
Sébastien Crozet
9b87f06a85
feat: implement new "small-steps" solver + joint improvements
2024-01-21 21:02:27 +01:00
Sébastien Crozet
efa1ac3609
fix initialization of the joint_motor_position examples
2023-12-10 21:52:27 +01:00
pellico
7c43e96943
Removed not required parentheses
2023-12-10 12:43:13 +01:00
Sébastien Crozet
a05622cfe9
fix: avoid perpetual movement when the target ang motor position is overshot
2023-12-10 12:43:13 +01:00
pellico
9f3b5c8642
Fixed formatting of modified files.
2023-12-10 12:43:13 +01:00
pellico
6432909110
Fix #378 Added one example join_motor_position
2023-12-10 12:43:13 +01:00
Jan Nils Ferner
da671fd99a
Fix formatting
2023-02-04 18:12:15 +01:00
Jan Nils Ferner
cfb922d811
Import PI
2023-01-26 16:51:28 +01:00
Jan Nils Ferner
e712219522
Add wall to test #426
2023-01-24 03:13:24 +01:00
fabriceci
68d7cedfbc
Fix CI build error check-fmt
2022-12-26 21:45:31 +01:00
Wolftousen
f71af8a827
fix name change
2022-11-05 22:48:56 -04:00
Wolftousen
150b113a18
Adding a Rope Joint
2022-11-04 23:47:54 -04:00
Sébastien Crozet
a886529669
Fix warnings
2022-10-02 17:55:23 +02:00
Sébastien Crozet
36e85d0708
Add a character controller implementation
2022-10-02 17:36:30 +02:00
Sludge
297b7eef50
Fix build
2022-08-25 02:20:42 +02:00
Tristan Guichaoua
6c2eca72a5
impl Group
2022-08-13 14:31:27 +02:00
Sébastien Crozet
d3ca956565
Fix examples
2022-07-01 12:04:38 +02:00
Sébastien Crozet
ab8833f275
Add the option to automatically wake-up rigid-bodies a new joint is attached to
2022-05-30 18:29:18 +02:00
Sébastien Crozet
f108520b5a
Finalize refactoring
2022-04-20 19:02:49 +02:00
Sébastien Crozet
0ac35e12a7
Update tests
2022-03-20 21:49:16 +01:00
Sébastien Crozet
063c638ec5
Combine contact events and intersection events into a single event type and flags
2022-03-20 21:49:16 +01:00
Sébastien Crozet
a9e3441ecd
Rename rigid-body static to fixed
2022-03-20 21:49:16 +01:00
Sébastien Crozet
891c08177d
Rebase on master branch
2022-03-20 21:49:16 +01:00
Sébastien Crozet
fb20d72ee2
Joint API and joint motors improvements
2022-03-20 21:49:16 +01:00
