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46d976d97bc9334004a58a19bc9cab3ea78e9569
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57 Commits

Author SHA1 Message Date
Sébastien Crozet
46d976d97b Allow disabling colliders, rigid-bodies and impulse joints 2022-12-11 15:20:33 +01:00
Sébastien Crozet
158308ad71 Add hepler function for building a contact force event from a contact pair 2022-07-04 15:04:06 +02:00
Sébastien Crozet
5063f3bb4f Add the ability to disable contacts between two rigid-bodies attached by joints 2022-07-03 13:55:41 +02:00
Sébastien Crozet
fef8416983 Move the cfm factor to the velocity constraints instead of the elements. 2022-05-30 19:14:05 +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
c46f52f451 Rename JointSet::joints_with to attached_joints 2022-05-30 17:48:31 +02:00
Sébastien Crozet
8ffb0d1658 Take round shapes into account in 2D debug render 2022-04-28 13:05:00 +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
ee679427cd Fix mass-properties update after collider change 2022-04-20 17:11:06 +02:00
Sébastien Crozet
d22d3fcc9f Cargo fmt 2022-03-20 21:49:16 +01:00
Sébastien Crozet
db6a8c526d Fix warnings and add comments. 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
815de4beff Complete the parallel solver fix 2022-03-20 21:49:16 +01:00
Sébastien Crozet
412fedf7e3 Start fixing the parallel version. 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
Sébastien Crozet
0bb0e412e6 Rename JointHandle -> ImpulseJointHandle 2022-03-20 21:49:16 +01:00
Sébastien Crozet
0c7ebae1aa Run cargo fmt 2022-01-23 18:04:24 +01:00
zhguchev
536122e080 add defaults for the several structs 2022-01-23 18:01:50 +01:00
Sébastien Crozet
0703e5527f Fix some solver issues 
- Fix the wrong codepath taken  by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
 2022-01-16 16:52:40 +01:00
Sébastien Crozet
b631fe9193 Allow locking individual translational axes 2022-01-09 22:15:36 +01:00
Sébastien Crozet
87ec0ced40 Address issues with the genral-case for multibody joints 2022-01-08 21:09:11 +01:00
Sébastien Crozet
f74b8401ad Implement multibody joints and the new solver 2022-01-02 16:58:36 +01:00
Jamen Marz
7aa94e994f Impl Default for a few structs 2021-09-25 13:50:12 +02:00
Sébastien Crozet
f7643272f4 Implement limits for ball joints. 2021-08-08 18:38:12 +02:00
Sébastien Crozet
ac77c95c9c Implement limits for revolute joints. 2021-08-08 18:38:12 +02:00
Oli Scherer
44244c324a Fix copy paste bug in ball joint docs 2021-07-27 10:47:01 +02:00
Crozet Sébastien
77a6cd3f26 Release v0.10.0 2021-07-11 19:21:50 +02:00
Waridley
9233a855f0 impl more traits for components 2021-07-11 18:22:39 +02:00
Crozet Sébastien
bccb7d4c66 Track the rigid-body graph IDs inside of the JointSet instead of RigidBodyIds 2021-06-08 18:23:40 +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
Waridley
5592daf7fa Derive Clone for JointSet 2021-03-04 18:05:26 -06:00
Emil Ernerfeldt
277d74fb18 less mut 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-02-24 15:59:11 +01:00
Emil Ernerfeldt
69afb2914a less mut 
Co-authored-by: Sébastien Crozet <sebastien@crozet.re>
 2021-02-24 15:59:06 +01:00
Emil Ernerfeldt
504b84bb06 Add JointSet::get_mut and get_unknown_gen_mut 
Fix https://github.com/dimforge/rapier/issues/121
 2021-02-24 15:20:48 +01:00
Crozet Sébastien
e5c4c2e8ff Ball joint: remove unused field. 2021-02-22 15:06:33 +01:00
Crozet Sébastien
0eec28325e Fix warnings. 2021-02-22 14:20:06 +01:00
Crozet Sébastien
aaba6c8927 Add motors to prismatic joints. 2021-02-22 12:12:24 +01:00
Crozet Sébastien
01496d43e5 Add motors to ball joints. 2021-02-21 17:15:00 +01:00
Crozet Sébastien
f5515c3973 Fix lever-arm handling in the revolute joint. 2021-02-21 17:14:43 +01:00
Crozet Sébastien
dc8ccc0c30 Make revolute joint actuation work properly even when SIMD is enabled. 2021-02-19 17:32:09 +01:00
Crozet Sébastien
e9f17f32e8 Complete the implementation of non-simd joint motor for the revolute joint. 2021-02-19 15:21:25 +01:00
Crozet Sébastien
de39a41faa Implement non-linear position stabilization for the generic constraint. 2021-02-15 11:20:09 +01:00
Crozet Sébastien
d9b6198fa0 Various generic joint fixes. 2021-02-12 16:00:57 +01:00
Crozet Sébastien
cc80e40067 More experiments with the way the generic joint is stabilized. 2021-02-11 18:52:07 +01:00
Crozet Sébastien
5b80c4efbf Start experimenting with a generic joint implementation for joint drives. 2021-02-11 15:58:46 +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