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27b11b9d61f52125c78aaabf78e3c1196462fb15
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43 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
a3d983fbe9 feat: add ColliderSet::get_pair_mut and RigidBodySet::get_pair_mut 2025-05-23 18:34:35 +02:00
Thierry Berger
176c3bae14 Fix user changes handling (#803) 
* 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

---------

Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
 2025-03-28 12:48:25 +01:00
Bruce Mitchener
e7e196d9f9 Improve capacity handling for ColliderSet, RigidBodySet. (#726) 
These allow an application to reduce the cost of reallocation when
they know that a large number of colliders or rigid bodies will
be created.
 2024-09-16 16:45:14 +02:00
Thierry Berger
0ff55411a4 More Debug derives. (#686) 2024-07-19 16:13:25 +02:00
Sébastien Crozet
d127af7816 feat: make RigidBody::add_collider private 
Colliders must only be added through the `ColliderSet`.
 2024-06-09 12:09:58 +02:00
Sébastien Crozet
da92e5c283 Fix clippy and enable clippy on CI 2024-01-27 17:13:08 +01:00
Sébastien Crozet
683baf6bf7 Allow the PhysicsPipeline and CollisionPipeline to update the QueryPipeline incrementally 2022-12-11 15:20:33 +01:00
Sébastien Crozet
46d976d97b Allow disabling colliders, rigid-bodies and impulse joints 2022-12-11 15:20:33 +01:00
Sébastien Crozet
7831ebfc31 Add methods to read the mass or volume of a collider. 2022-07-05 15:15:17 +02:00
Sébastien Crozet
f108520b5a Finalize refactoring 2022-04-20 19:02:49 +02:00
Sébastien Crozet
2b1374c596 First round deleting the component sets. 2022-04-20 19:02:49 +02:00
Sébastien Crozet
28cc19d104 Allow removing a rigid-body without auto-removing attached colliders 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
Jamen Marz
7aa94e994f Impl Default for a few structs 2021-09-25 13:50:12 +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
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
Crozet Sébastien
88b7a5588b Add comment regarding the fix. 2021-04-03 12:12:12 +02:00
Crozet Sébastien
5a0e6471cd Fix crash caused by a collider being remove before the first timestep. 2021-04-03 12:03:49 +02:00
Crozet Sébastien
a484511718 ColliderSet::handle_user_changes - don't drain the set of modified colliders. 2021-03-31 18:12:00 +02:00
Crozet Sébastien
8173e7ada2 Allow collider modification after its insersion to the ColliderSet. 2021-03-29 14:54:54 +02:00
Crozet Sébastien
97157c9423 First working version of non-linear CCD based on single-substep motion-clamping. 2021-03-26 18:16:27 +01:00
Crozet Sébastien
3a1502be74 First complete implementation of the hierarchical SAP. 2021-03-13 18:00:58 +01:00
Emil Ernerfeldt
85bc81d4fc Make clippy a bit happier 2021-02-04 13:11:04 +01:00
Crozet Sébastien
8ff2bcc3ec Add all the missing docs. 2021-01-27 14:20:14 +01:00
Crozet Sébastien
8f7220f03d Rename cdl to parry. 2021-01-24 11:13:44 +01:00
Crozet Sébastien
0ade350b5f Use newtypes for collider, rigid-body and joint handles. 2021-01-20 16:33:42 +01:00
Crozet Sébastien
391bcf372a Fix collider insertion/removal tracking. 2020-11-26 11:41:54 +01:00
Crozet Sébastien
2d4e14b869 Properly track some user-initiatied rigid-body modifications. 2020-11-25 16:28:49 +01:00
Crozet Sébastien
af39ec54d3 Remove the narrow-phase graph indices from the collider. 
They are on the narrow-phase now.
 2020-11-23 15:56:53 +01:00
Crozet Sébastien
0d49a80974 Add a parameter to indicate if collider removal should wake-up its parent. 2020-11-19 18:00:43 +01:00
Crozet Sébastien
c6af248e66 Rename reset_internal_links -> reset_internal_references. 2020-11-03 14:45:50 +01:00
Crozet Sébastien
0cf59d78bd Implement Clone for everything that can be cloned. 2020-11-03 14:43:21 +01:00
Crozet Sébastien
036a246141 Make cloning rigid-bodies and colliders more idiomatic. 
Fix #53
 2020-11-03 14:29:47 +01:00
Crozet Sébastien
682ff61f94 Don't let the PubSub internal offsets overflow + fix some warnings. 2020-10-06 15:23:48 +02:00
Crozet Sébastien
8e432b298b Make the WQuadTree more generic and use it as the trimesh acceleration structure. 2020-10-06 10:46:59 +02:00
Crozet Sébastien
93aa7b6e1e Use the publish-subscribe mechanism to handle collider removals across pipelines. 2020-10-05 19:04:18 +02:00
Sébastien Crozet
df2156ffd0 Allow the removal of a collider. 2020-08-31 19:05:14 +02:00
Sébastien Crozet
754a48b7ff First public release of Rapier. 2020-08-25 22:10:25 +02:00