Sébastien Crozet
95bd6fcfeb
feat: switch to the new Bvh from parry for the broad-phase ( #853 )
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* feat: switch to the new Bvh from parry for the broad-phase
* chore: cargo fmt + update testbed
* chore: remove the multi-grid SAP broad-phase
* fix soft-ccd handling in broad-phase
* Fix contact cleanup in broad-phase after collider removal
* chore: clippy fixes
* fix CCD regression
* chore: update changelog
* fix build with the parallel feature enabled
* chore: remove the now useless broad-phase proxy index from colliders
* fix tests
2025-07-11 22:36:40 +02:00
Sébastien Crozet
b798e1942d
chore: clippy fixes
2025-05-02 15:16:43 +02:00
Thierry Berger
65f87d597b
use hashset from parry ( #716 follow up) ( #788 )
2025-01-17 16:06:06 +01:00
Chris Bacon
564f7b7348
Fix Nans from RevoluteJoint::angle() ( #736 )
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Fixes #735
2025-01-08 17:47:13 +01:00
Thierry Berger
510237cc29
Profiling support ( #743 )
2024-11-19 16:33:26 +01:00
Thierry Berger
c714ff81f2
ImpulseJointSet::get_mut option to wake up connected bodies ( #716 )
2024-09-13 10:48:56 +02:00
Bruce Mitchener
ed133e1ea9
Fix more typos. ( #712 )
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These are ones not found by `typos` for various reasons.
2024-08-09 14:31:08 +02:00
Thierry Berger
7ff92b1cf5
Fix CI ( #707 )
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Removes dead code + other rust 1.80 related fixes
2024-08-05 11:32:43 +02:00
Thierry Berger
0ff55411a4
More Debug derives. ( #686 )
2024-07-19 16:13:25 +02:00
Thierry Berger
01dd200152
ci: cargo doc step ( #671 )
2024-07-12 16:29:22 +02:00
Sébastien Crozet
40ee5367d8
chore: add one more test for the multibody insertion out-of-bounds issue
2024-07-07 15:22:55 +02:00
Sébastien Crozet
9e699e0315
Fix broken multibody joint removal.
2024-07-07 15:22:55 +02:00
Sébastien Crozet
f34152e78b
Fix out-of-bounds crash when merging two multibodies
2024-07-07 15:22:55 +02:00
Sébastien Crozet
3004a7d38d
chore: update to nalgebra 0.33 and parry 0.16 ( #664 )
2024-06-23 22:57:51 +02:00
Bruce Mitchener
8a592e458e
Fix typos. ( #658 )
2024-06-20 21:03:12 +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
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
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
da92e5c283
Fix clippy and enable clippy on CI
2024-01-27 17:13:08 +01:00
AnonymousAcid
2ed34bacf4
Fix dimforge#416 - update ball joint motor pos
2024-01-24 22:59:14 +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
Dmitry
64b0d08c14
user_data for joints
2023-07-15 23:14:44 +03:00
Sébastien Crozet
b6fdfd11ad
Add missing import
2023-03-26 15:57:31 +02:00
Sébastien Crozet
7cca677523
Add methods to customize a SphericalJoint’s local reference frames.
2023-03-26 15:44:59 +02:00
Sébastien Crozet
9b5ccb95e7
Update dependencies
2023-01-15 12:17:10 +01:00
Sébastien Crozet
cc0c982a5b
Merge pull request #415 from Wolftousen/master
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Add Rope Joints
2022-12-18 15:12:19 +01:00
Sébastien Crozet
683baf6bf7
Allow the PhysicsPipeline and CollisionPipeline to update the QueryPipeline incrementally
2022-12-11 15:20:33 +01:00
Sébastien Crozet
46d976d97b
Allow disabling colliders, rigid-bodies and impulse joints
2022-12-11 15:20:33 +01:00
Wolftousen
c713f45ca0
adding 3d rope joint
2022-11-05 22:42:50 -04:00
Wolftousen
150b113a18
Adding a Rope Joint
2022-11-04 23:47:54 -04:00
Sébastien Crozet
158308ad71
Add hepler function for building a contact force event from a contact pair
2022-07-04 15:04:06 +02:00
Sébastien Crozet
5063f3bb4f
Add the ability to disable contacts between two rigid-bodies attached by joints
2022-07-03 13:55:41 +02:00
Sébastien Crozet
fef8416983
Move the cfm factor to the velocity constraints instead of the elements.
2022-05-30 19:14:05 +02:00
Sébastien Crozet
ab8833f275
Add the option to automatically wake-up rigid-bodies a new joint is attached to
2022-05-30 18:29:18 +02:00
Sébastien Crozet
c46f52f451
Rename JointSet::joints_with to attached_joints
2022-05-30 17:48:31 +02:00
Sébastien Crozet
8ffb0d1658
Take round shapes into account in 2D debug render
2022-04-28 13:05:00 +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
