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755 Commits

Author SHA1 Message Date
Sébastien Crozet
f34152e78b Fix out-of-bounds crash when merging two multibodies 2024-07-07 15:22:55 +02:00
Roman
66b6b55ea2 Rotation gizmo for Ball 2d collider (#670) 2024-07-01 10:49:41 +02:00
Di Saber
a854de787f Fix attempt to subtract with overflow panic in SAPRegion::update_after_subregion_removal() (#663) 
* Swap a regular subtraction for a saturating subtraction

* chore: display a debug message if the SAP reach an unexpected state regarding sub-proper proxies removal.

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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
 2024-06-23 23:26:08 +02:00
Thierry Berger
5308a28435 fix: less invasive solve_character_collision_impulses function (#652) 
* fix: less invasive `solve_character_collision_impulses` function

Taking ownership of the elements is not necessary.

It also conveys the information that elements are only read.

* Add Changelog
 2024-06-23 23:01:55 +02:00
Sébastien Crozet
3004a7d38d chore: update to nalgebra 0.33 and parry 0.16 (#664) 2024-06-23 22:57:51 +02:00
Thierry Berger
3e8650f3a7 Fix delta_time being 0 resulting in incorrect simulation (#660) 
* Add failing test

* fix tests

* better fix

* add changelog

* fix propagated to `contact_cfm_factor`

* PR feedback

* more PR feedbacks
 2024-06-23 18:18:54 +02:00
Bruce Mitchener
8a592e458e Fix typos. (#658) 2024-06-20 21:03:12 +02:00
Thierry Berger
84b66d63e3 fix: character controller: walls less likely to trigger ground detection (#655) 2024-06-17 16:51:06 +02:00
Miguel Medina Ballesteros
5c6d34aa09 fix: capitalization typo in docs (#654) 2024-06-14 15:39:38 +02:00
Thierry Berger
05c3925884 fix: Fixed typo in castShape functions (#653) 2024-06-13 11:31:49 +02:00
Thierry Berger
9367198282 feat: rework QueryPipeline update API to take less parameters (#647) 
* chore: rework QueryPipeline API to take a generic qbvh updater

This allows to pass less parameters depending on the updating mode.

* chore: rework struct and functions names, and docs

---------

Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
 2024-06-09 14:16:03 +02:00
Thierry Berger
8160b4ebdb feat: change the character controller’s solve_character_collision_impulses to take multiple CharacterCollision (#646) 
* character controller: solve multiple collisions

* add solve multiple collisions to changelog

* chore: apply review comments

---------

Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com>
 2024-06-09 13:20:58 +02:00
Sébastien Crozet
a8a0f297f5 feat: add RevoluteJoint::angle to compute the revolute joint’s angle 2024-06-09 13:20:09 +02:00
Sébastien Crozet
a5a4152815 fix warning in tests 2024-06-09 12:09:58 +02:00
Sébastien Crozet
ad960bf245 chore: clippy fixes 2024-06-09 12:09:58 +02:00
Sébastien Crozet
edaa36ac7e chore: add more comments 2024-06-09 12:09:58 +02:00
Sébastien Crozet
98e32b7f3c fix 2D compilation 2024-06-09 12:09:58 +02:00
Sébastien Crozet
0bdc620207 feat: add suport for kinematic multibody links 2024-06-09 12:09:58 +02:00
Sébastien Crozet
d9585de20b feat: add the ability to disable all contacts between two links belonging to the same multibody 2024-06-09 12:09:58 +02:00
Sébastien Crozet
2041c9549d feat: let user specify joints that cannot move for IK 2024-06-09 12:09:58 +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
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
5922612ef3 feat: impl Default for RigidBodyBuilder and ColliderBuilder 2024-06-09 12:09:58 +02:00
Sébastien Crozet
c785ea4996 feat: rename JointAxesMask::X/Y/Z by ::LIN_X/LIN_Y/LIN_Z and JointAxis::X/Y/Z by ::LinX/LinY/LinZ 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
Thierry Berger
856675032e Merge pull request #636 from waywardmonkeys/fix-spelling-in-variable 
Fix typo in internal variable name.
 2024-06-03 15:13:36 +02:00
Thierry Berger
a1b36b0629 fix todo; removing a private type. 
Seems unblocked since rust 1.51
 2024-05-29 09:01:59 +02:00
Bruce Mitchener
f13ca5cf1c Fix typo in internal variable name. 2024-05-25 22:20:27 +07:00
Sébastien Crozet
cdec395d09 feat: rename cfm_factor, damping_ratio to contact_cfm_factor and contact_damping_ratio 2024-05-25 12:00:15 +02:00
Sébastien Crozet
4737a96169 fix: allow enexpected_cfgs 2024-05-25 12:00:15 +02:00
Sébastien Crozet
ed8645e34c feat: remove the "fast constraint" special case 2024-05-25 12:00:15 +02:00
Sébastien Crozet
fdd935dbf1 feat: make the constraints regularization coefficients configurable with angular frequency instead of explicit ERP 2024-05-25 12:00:15 +02:00
Sébastien Crozet
62379de9ec feat: add simple inverse-kinematics solver for multibodies (#632) 
* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies

* feat: add 2d inverse kinematics example

* feat: make forward_kinematics auto-fix the root’s degrees of freedom

* feat: add 3d inverse kinematics example

* chore: update changelog

* chore: clippy fixes

* chore: more clippy fixes

* fix tests
 2024-05-25 10:36:34 +02:00
Sébastien Crozet
0d76a55d80 chore: don’t return &mut Self with GenericJoint::flip 2024-05-05 16:34:55 +02:00
Fun Maker
4332818e02 Fix joint limits not being flipped in one body constrains. (#549) 2024-05-05 16:34:55 +02:00
Fun Maker
a2fdeab7e1 Removed leftovers from block breaks stabilization. 2024-05-05 16:34:55 +02:00
Sébastien Crozet
e4d6755c15 chore: clippy fixes 2024-05-05 16:17:39 +02:00
Sébastien Crozet
425b2fc83d chore: misc typo fixes 2024-05-05 16:17:39 +02:00
Sébastien Crozet
d0866d4232 feat: rename CharacterCollision::toi to hit 2024-05-05 16:17:39 +02:00
Sébastien Crozet
7565e5e4ef chore: update to the latest parry api 2024-05-05 16:17:39 +02:00
Sébastien Crozet
dbefeb0418 feat: don’t enable character controller autostepping by default 2024-05-05 16:17:39 +02:00
Sébastien Crozet
3222d67871 Fix character controller getting stuck against vertical walls 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
a36f161ce6 fix compilation of tests 2024-04-30 23:10:46 +02:00
Sébastien Crozet
0a9153e273 chore: clippy fixes 2024-04-30 23:10:46 +02:00
Sébastien Crozet
929aa6b925 feat: rename collision_skin to contact_skin 2024-04-30 23:10:46 +02:00
Sébastien Crozet
5867d2e78d fix: include the 0.5 factor in pseudo (mass-normalized) kinetic energy calculation 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
c079452a47 feat: add IntegrationParameters::length_unit to adjust internal threshold based on user-defined length units 2024-04-30 23:10:46 +02:00
Sébastien Crozet
6635d49c8b feat: add configurable distance cap to soft-ccd 2024-04-30 23:10:46 +02:00