Sébastien Crozet
48de83817e
feat: persistent islands + manifold reduction ( #895 )
...
* 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
2026-01-09 17:04:02 +01:00
Sébastien Crozet
134f433903
feat: solver improvements + release v0.29.0 ( #876 )
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* 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
2025-09-05 19:31:58 +02:00
Johannes
3855592447
Prevent underflow with saturating_sub(1) ( #812 ) ( #817 )
2025-04-01 09:51:03 +02:00
Thierry Berger
93bd37d814
fix clippy needless lifetimes ( #769 )
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+ ignore them for bevy where we often want explicitness
2024-12-05 15:55:12 +01:00
Thierry Berger
510237cc29
Profiling support ( #743 )
2024-11-19 16:33:26 +01:00
Sébastien Crozet
da92e5c283
Fix clippy and enable clippy on CI
2024-01-27 17:13:08 +01:00
Sébastien Crozet
bef72df32c
chore: CI fixes
2024-01-22 21:06:33 +01:00
Sébastien Crozet
9b87f06a85
feat: implement new "small-steps" solver + joint improvements
2024-01-21 21:02:27 +01:00
Sébastien Crozet
21a31bc102
Warning fix.
2022-04-20 19:02:49 +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
a9e3441ecd
Rename rigid-body static to fixed
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
815de4beff
Complete the parallel solver fix
2022-03-20 21:49:16 +01:00
Sébastien Crozet
2e6f133b95
Second round to fix the parallel solver.
2022-03-20 21:49:16 +01:00
Sébastien Crozet
f74b8401ad
Implement multibody joints and the new solver
2022-01-02 16:58:36 +01:00
Crozet Sébastien
5cf805075e
Fix compilation of the parallel version
2021-04-29 12:09:35 +02:00
Crozet Sébastien
3810466326
Fix some warnings
2021-04-29 10:33:07 +02:00
Crozet Sébastien
c32da78f2a
Split rigid-bodies and colliders into multiple components
2021-04-26 18:00:50 +02:00
Crozet Sébastien
4e84c122df
Fix more warnings.
2021-03-31 16:55:18 +02:00
Crozet Sébastien
e9f6384081
Fix the parallel solver to work properly with CCD.
2021-03-31 10:53:44 +02:00
Crozet Sébastien
d2ee642053
CCD: take angular motion and penetration depth into account in various thresholds.
2021-03-30 17:10:50 +02:00
Crozet Sébastien
dc8ccc0c30
Make revolute joint actuation work properly even when SIMD is enabled.
2021-02-19 17:32:09 +01:00
Crozet Sébastien
261ed1ebed
Fix 2D compilation.
2021-01-06 12:53:26 +01:00
Crozet Sébastien
c28b14d31c
Refactor the parallel solver code the same way we did with the non-parallel solver.
2021-01-04 17:59:56 +01:00
Crozet Sébastien
aa61fe65e3
Add support of 64-bits reals.
2021-01-04 15:14:25 +01:00
Crozet Sébastien
967145a949
Perform contact sorting in the narrow-phase directly.
2020-12-31 11:16:03 +01:00
Crozet Sébastien
9bf1321f8f
Outsource the contact manifold, SAT, and some shapes.
2020-12-29 11:31:00 +01:00
Sébastien Crozet
754a48b7ff
First public release of Rapier.
2020-08-25 22:10:25 +02:00
