Bruce Mitchener
8a592e458e
Fix typos. ( #658 )
2024-06-20 21:03:12 +02:00
Thierry Berger
9367198282
feat: rework QueryPipeline update API to take less parameters ( #647 )
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* 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
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Co-authored-by: Sébastien Crozet <sebcrozet@dimforge.com >
2024-06-09 14:16:03 +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
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
d127af7816
feat: make RigidBody::add_collider private
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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
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
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 )
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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
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
Sébastien Crozet
425b2fc83d
chore: misc typo fixes
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
Bruce Mitchener
7375a691e2
Fix some typos. ( #620 )
2024-05-05 12:11:38 +02:00
Sébastien Crozet
0a9153e273
chore: clippy fixes
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
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
Sébastien Crozet
f58b4f7c19
feat: add warmstarting to contact constraints resolution
2024-04-30 23:10:46 +02:00
Sébastien Crozet
de5e871cd1
chore: rework vertical stacks demo
2024-04-30 23:10:46 +02:00
Sébastien Crozet
9c5c14070d
feat: add variable constraints stabilization iteration number
2024-04-30 23:10:46 +02:00
Sébastien Crozet
404e032433
feat: add soft (solver-based) ccd implementation
2024-04-30 23:10:46 +02:00
Sébastien Crozet
3ddf2441ea
feat: add exact mlcp solver for pais of 2 constraints
2024-04-30 23:10:46 +02:00
Sébastien Crozet
9964007269
feat: add some additional perf counters
2024-04-30 23:10:46 +02:00
Sébastien Crozet
09af4313fa
Fix reported contact impulse in the contact force event
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Address https://github.com/dimforge/rapier.js/issues/261
2024-03-23 16:28:48 +01:00
Sébastien Crozet
cd9fb8342d
feat: add RigidBody::copy_from and Collider::copy_from
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Closes #595
2024-03-23 14:19:52 +01:00
Sébastien Crozet
6886f8f207
feat: add RigidBody::predict_position_using_velocity
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Fix #601
2024-03-23 11:10:57 +01:00
Sébastien Crozet
b00113ed2f
fix: implement linear-coupled-motor constraint between two dynamic bodies
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Fix #602
2024-03-23 10:34:01 +01:00
Sébastien Crozet
da92e5c283
Fix clippy and enable clippy on CI
2024-01-27 17:13:08 +01:00
Sébastien Crozet
6cee6b01f2
Merge pull request #571 from AnonymousAcid7787/fix-Setting-the-motor-position-of-a-Spherical-multibody-joint-is-broken
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Fix #416 Update spherical joint motor position
2024-01-24 23:26:42 +01:00
AnonymousAcid
2ed34bacf4
Fix dimforge#416 - update ball joint motor pos
2024-01-24 22:59:14 +01:00
Sébastien Crozet
46b244167c
feat!: rename narrow-phase methods for more clarity.
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Renames `contacts_with` to`contact_pairs_with`; and `intersections_with` to `intersection_pairs_with`.
2024-01-24 22:51:30 +01:00
Sébastien Crozet
d1fc90c150
feat: rework solver parameters to make it easy to recover the old behaviors
2024-01-24 21:57:54 +01:00
Sébastien Crozet
6cb727390a
chore: more CI fixes
2024-01-22 21:29:51 +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
76557448d7
fix: also apply joint limits in case of equality
2023-12-10 21:51:57 +01:00
Sébastien Crozet
fef7f0f92a
fix more 2D angular motor/limits jacobians
2023-12-10 21:39:11 +01:00
Sébastien Crozet
a05622cfe9
fix: avoid perpetual movement when the target ang motor position is overshot
2023-12-10 12:43:13 +01:00
pellico
9f3b5c8642
Fixed formatting of modified files.
2023-12-10 12:43:13 +01:00
pellico
6432909110
Fix #378 Added one example join_motor_position
2023-12-10 12:43:13 +01:00
Dzmitry Malyshau
e4bf6914c7
Fix check for motor constraints on angular DoF
2023-12-01 23:35:17 -08:00
Sébastien Crozet
dfb4f2a1aa
Merge pull request #505 from mrDIMAS/master
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`user_data` for joints
2023-09-09 12:59:50 +02:00
