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feat: persistent islands + manifold reduction (#895)

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* feat: initial implementation of contact manifold reduction

* feat: try bepu-like manifold reduction

* feat: simplification of the constraints counting and indexing logic

* feat: add concept of incremental islands with a single awake island

More islands manager fixes

* feat: start adding support for multiple awake islands

* feat: add more timings

* feat: implement incremental island split & merge

* chore: refactor islands manager into multiple files

* chore: refactor manifold reduction to its own file + add naive reduction method

* feat: add islands manager validation checks

* fix various bugs in the new islands system

* chore: remove redundant active_set_offset field
This commit is contained in:
Sébastien Crozet
2026-01-09 17:04:02 +01:00
committed by GitHub
parent 134132900a
commit 48de83817e
40 changed files with 2099 additions and 1114 deletions
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crates/rapier2d/Cargo.toml
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@@ -44,6 +44,7 @@ serde-serialize = [
"dep:serde",
"bit-vec/serde",
"arrayvec/serde",
"vec_map/serde"
]
enhanced-determinism = ["simba/libm_force", "parry2d/enhanced-determinism"]
debug-render = []