* 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
* feat: add debug-demo for disabling a collider
* feat: add a simple debug-demo with two cubes
* feat: rename RigidBodyChangnes::MODIFIED and ColliderChanges::MODIFIED to ::IN_MODIFIED_SET
* feat: render debug-colliders with a different color with the debug-renderer
* chore: wire up new examples to the testbed
* fix colliders user-modification being ignored after the first step
* fix broad-phase still taking into account disabled colliders with enabled dynamic rigid-bodies
* chore: update changelog
* fix cargo doc
* fix kinematic bodies ignoring the wake_up flag when setting velocities
* fix: don’t allow kinematic bodies to fall asleep unless they velocities are at zero exactly.
* feat: add debug example for kinematic bodies sleep
* chore: update changelog
* chore: typo
* feat: solver improvements
* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body
* chore: switch to released versions of parry and wide instead of local patches
* fix cargo doc
* chore: typo fixes
* chore: clippy fix
* Release v0.29.0
* chore: more clippy fixes
* feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD
* Release v0.28.0
* chore: fix warnings
* chore: clippy fixes
* chore: more clippy fixes
* Replace crossbeam channel with std::sync::mpsc
- Replace all uses of crossbeam::channel with std::sync::mpsc
- Remove crossbeam dependency from all Cargo.toml files
- Update documentation to remove crossbeam references
- Use std::sync::mpsc::channel() instead of crossbeam::channel::unbounded()
Fixes#828🤖 Generated with [Claude Code](https://claude.ai/code)
Co-Authored-By: Claude <noreply@anthropic.com>
* Update mod.rs
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Co-authored-by: Claude <noreply@anthropic.com>
* 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
* add failing test from @Johannes0021
* apply fix on update_positions
* apply fix on ColliderSet::iter_mut
* fix clippy..
* more complete test
* feat: refactor modified sets into a wrapper to avoid future mistakes
* chore: fix typos
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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
