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110 Commits

Author SHA1 Message Date
Sébastien Crozet
317322b31b feat: reduce the amount of duplicate work the broad-phase is doing for user changes and CCD + release v0.28.0 (#872) 
* 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
 2025-08-08 18:15:34 +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
Sébastien Crozet
ef47848fba feat: update to parry 0.21 2025-05-16 19:27:02 +02:00
Sébastien Crozet
0e4a5c8539 Release v0.25.0 (#827) 2025-04-24 13:43:32 +02:00
Sébastien Crozet
e44f636249 feat: add support for Voxels collider (#823) 
* 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
Thierry Berger
dc4bd24da8 Update to Parry 0.18 (#770) 
* 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
Pier Angelo Vendrame
0d791eb794 Fixed some typos. (#757) 2024-11-06 09:39:22 +01:00
Thierry Berger
01dd200152 ci: cargo doc step (#671) 2024-07-12 16:29:22 +02:00
Sébastien Crozet
9865d5836a feat: add MeshConverter and Colliders::converted_trimesh for building a collider with a shape computed form mesh buffers 2024-06-09 12:09:58 +02:00
Sébastien Crozet
5922612ef3 feat: impl Default for RigidBodyBuilder and ColliderBuilder 2024-06-09 12:09:58 +02:00
Thierry Berger
e1ed90603e Merge branch 'master' into collider-builder-debug 2024-06-03 15:20:24 +02:00
Sébastien Crozet
425b2fc83d chore: misc typo fixes 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
929aa6b925 feat: rename collision_skin to contact_skin 2024-04-30 23:10:46 +02:00
Sébastien Crozet
664645159d feat: implement collision skin 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
7cbbb8e87b feat: add Collider::heightfield_with_flags 2024-04-30 23:10:46 +02:00
Sébastien Crozet
3d112287b9 feat: add a BroadPhaseTrait for allowing custom broad-phases 2024-03-23 15:17:47 +01:00
Sébastien Crozet
cd9fb8342d feat: add RigidBody::copy_from and Collider::copy_from 
Closes #595
 2024-03-23 14:19:52 +01:00
whatf0xx
fe336b9b98 derived Debug for ColliderBuilder 2024-02-11 16:28:58 +01:00
Sébastien Crozet
da92e5c283 Fix clippy and enable clippy on CI 2024-01-27 17:13:08 +01:00
Bruce Mitchener
b9b5b58f61 docs: Expand "wrt" to "with respect to". 
This makes things more clear as this abbreviation isn't known
to everyone.

While the trailing period is common in French, it isn't in English
(one might use "w.r.t.").

Fixes #498.
 2023-08-28 11:13:27 +07:00
MrGunflame
6d72192955 Fix doc-links for ColliderBuilder and RigidBodyBuilder 2023-03-30 17:15:43 +02:00
Sébastien Crozet
46d976d97b Allow disabling colliders, rigid-bodies and impulse joints 2022-12-11 15:20:33 +01:00
Sébastien Crozet
34b7ae32fd Add internal edges debug examples. 2022-10-30 16:44:33 +01:00
Sébastien Crozet
b5b3431a63 Switch to the published parry 0.11 2022-10-30 13:43:52 +01:00
Sébastien Crozet
a19c6131ff Make Collider::set_rotation and RigidBody::set_rotation take a rotation instead of an axis-angle. 2022-08-09 09:26:12 +02:00
Sébastien Crozet
e20f4a9952 cargo fmt 2022-07-07 11:06:25 +02:00
Sébastien Crozet
73788a21ab Add ActiveEvents::CONTACT_FORCE_EVENTS for consistency with ActiveEvents::COLLISION_EVENTS 2022-07-07 11:01:39 +02:00
Sébastien Crozet
7831ebfc31 Add methods to read the mass or volume of a collider. 2022-07-05 15:15:17 +02:00
Sébastien Crozet
ba081fb6f5 Improve the API for initializing/setting mass-properties 2022-07-05 14:59:14 +02:00
Sébastien Crozet
c9d8277377 Add contact force events generated above a user-defined threshold 2022-07-01 12:00:32 +02:00
Sébastien Crozet
2b1374c596 First round deleting the component sets. 2022-04-20 19:02:49 +02:00
Sébastien Crozet
ee679427cd Fix mass-properties update after collider change 2022-04-20 17:11:06 +02:00
Sébastien Crozet
fb20d72ee2 Joint API and joint motors improvements 2022-03-20 21:49:16 +01:00
Jakub Arnold
64e5a98833 Minor documentation fixes 2021-12-31 10:04:29 +01:00
Crozet Sébastien
8e0aa2ac79 Add methods to set the translation or rotation wrt. a collider and its parent. 2021-07-12 10:10:59 +02:00
Waridley
62d6b0651b Derive Clone for IslandManager 
also fix typo
 2021-06-09 11:07:37 +02:00
Crozet Sébastien
fdd370e51a Release v0.9.0 2021-06-02 18:01:23 +02:00
Sébastien Crozet
c7b876e2f7 Merge pull request #173 from DasEtwas/must-use-pub 
Add #[must_use] to builders, expose more fields
 2021-06-02 17:37:13 +02:00
Sébastien Crozet
ad2fcf755a Merge pull request #176 from sdfgeoff/add_collider_shared_shape_method 
Created a method to retrieve the SharedShape from a collider
 2021-06-02 17:32:56 +02:00
Crozet Sébastien
7153eb7779 Add ActiveCollisionTypes to easily enable collision-detection between two non-static rigid-body. 2021-06-01 17:59:07 +02:00
Crozet Sébastien
dbb3c8f43b CCD: take collision groups into account 2021-06-01 14:56:24 +02:00
Crozet Sébastien
826ce5f014 Rework the event system 2021-06-01 12:36:01 +02:00
Crozet Sébastien
1bef66fea9 Add prelude + use vectors for setting linvel/translation in builders 2021-05-25 11:00:13 +02:00
DasEtwas
716c343979 Add #[must_use] to builders, expose more fields 2021-05-06 20:41:13 +02:00
Crozet Sébastien
2dfbd9ae92 Add comments. 2021-04-30 11:37:58 +02:00
Crozet Sébastien
c32da78f2a Split rigid-bodies and colliders into multiple components 2021-04-26 18:00:50 +02:00
Geoffrey Irons
b8a31e0869 Created a method to retrieve the SharedShape from a collider 
In my case this is for creating a compound shape from a set of existing colliders
 2021-04-18 12:51:44 +12:00
Crozet Sébastien
e66740e950 Release v0.7.0 2021-04-02 14:20:51 +02:00