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78c8bc6cdef26d14c57d0eeb23188cba592961bf
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4 Commits

Author SHA1 Message Date
Sébastien Crozet
78c8bc6cde Improve cfm configuration using the critical damping factor 2022-01-23 16:50:26 +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
f74b8401ad Implement multibody joints and the new solver 2022-01-02 16:58:36 +01:00