Sébastien Crozet
62379de9ec
feat: add simple inverse-kinematics solver for multibodies ( #632 )
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* 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
da92e5c283
Fix clippy and enable clippy on CI
2024-01-27 17:13:08 +01:00
Sébastien Crozet
9b87f06a85
feat: implement new "small-steps" solver + joint improvements
2024-01-21 21:02:27 +01:00
johnny-smitherson
aa546225a4
delete comments left over in diff
2023-11-03 21:43:31 +00:00
Sébastien Crozet
23a7ed5beb
Fix crashes on MacOS
2023-10-29 18:59:47 +01:00
Sludge
5d38f62cd3
Reexport BevyMaterial alias
2022-08-04 01:59:15 +02:00
Sébastien Crozet
5063fa4203
Testbed: switch to bevy 0.7
2022-04-28 13:19:58 +02:00
Sébastien Crozet
bc2ae4b512
Add a basic lines-based debug-renderer
2022-04-22 16:11:23 +02:00
Sébastien Crozet
0703e5527f
Fix some solver issues
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- 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
f74b8401ad
Implement multibody joints and the new solver
2022-01-02 16:58:36 +01:00
Sébastien Crozet
48d0df11d7
Release v0.11.0
2021-08-08 19:19:16 +02:00
rezural
53700db860
add opacity to EntityWithGraphics
2021-07-08 10:07:42 +02:00
Crozet Sébastien
e0e341214c
Update dependencies
2021-06-02 16:00:23 +02:00
Crozet Sébastien
1a84bf2af3
Replace Kiss3d by Bevy for the testbed renderer.
2021-05-16 17:49:20 +02:00
Crozet Sébastien
8f7220f03d
Rename cdl to parry.
2021-01-24 11:13:44 +01:00
Crozet Sébastien
8fe2df126a
Remove some irrelevant code.
2020-12-29 11:31:59 +01:00
Crozet Sébastien
e231bacec6
Move all the contact manifold computations out of Rapier.
2020-12-29 11:31:00 +01:00
Crozet Sébastien
9bf1321f8f
Outsource the contact manifold, SAT, and some shapes.
2020-12-29 11:31:00 +01:00
rezural
16720918aa
cargo fmt
2020-12-21 04:33:25 +11:00
rezural
be07227e94
add HarnessState to callbacks, move HarnessPlugin to src_testbed/harness/plugin
2020-12-21 04:23:11 +11:00
rezural
315b84a85e
add plugins
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cargo fmt
2020-12-21 04:23:11 +11:00
rezural
88bddce954
harness
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make harness a public mod, make harness.state public
2020-12-21 04:23:11 +11:00
rezural
bcaa1d13e8
extract PhysicsState, PhysicsSnapshot & PhysicsEvents
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cargo fmt
changes to make rapier compile
2020-12-20 14:45:59 +11:00
Crozet Sébastien
49dfe74a1b
Remove traces of the fluids feature.
2020-11-19 15:28:45 +01:00
Crozet Sébastien
154bc70037
Remove the Salva integration code from rapier + add a plugin system to the testbed.
2020-11-19 13:55:19 +01:00
Sébastien Crozet
754a48b7ff
First public release of Rapier.
2020-08-25 22:10:25 +02:00
