Crozet Sébastien
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d69b5876f3
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Fix velocity constraints for ball joints involving bodies with non-uniform angular inertia.
Fix #86
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2021-01-20 17:20:01 +01:00 |
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Crozet Sébastien
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0ade350b5f
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Use newtypes for collider, rigid-body and joint handles.
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2021-01-20 16:33:42 +01:00 |
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Crozet Sébastien
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28b7866aee
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Switch to [u32; DIM] instead of Point<u32> for element indices.
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2021-01-20 15:40:00 +01:00 |
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Crozet Sébastien
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e2006599a8
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Add 3D convex decomposition example.
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2021-01-20 15:15:33 +01:00 |
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Crozet Sébastien
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87b56c38b6
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Properly reset the BodySet::modified_all_bodies flag.
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2021-01-12 15:07:39 +01:00 |
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Crozet Sébastien
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2231d0f6ea
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Add gravity scaling to rigid-bodies.
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2021-01-06 18:09:21 +01:00 |
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Crozet Sébastien
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261ed1ebed
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Fix 2D compilation.
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2021-01-06 12:53:26 +01:00 |
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Crozet Sébastien
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00da4aaa42
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Add compound shape support.
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2021-01-05 15:34:48 +01:00 |
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Crozet Sébastien
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c28b14d31c
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Refactor the parallel solver code the same way we did with the non-parallel solver.
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2021-01-04 17:59:56 +01:00 |
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Crozet Sébastien
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aa61fe65e3
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Add support of 64-bits reals.
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2021-01-04 15:14:25 +01:00 |
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Crozet Sébastien
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a1aa8855f7
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Query pipeline: add methods to collect all intersections with a point or a shape.
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2020-12-31 18:23:14 +01:00 |
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Crozet Sébastien
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7b098606c2
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QueryPipeline: add shape casting, point projection, and intersection queries.
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2020-12-31 16:30:38 +01:00 |
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Crozet Sébastien
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1feac2e02d
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Restore contact events.
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2020-12-31 11:37:42 +01:00 |
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Crozet Sébastien
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967145a949
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Perform contact sorting in the narrow-phase directly.
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2020-12-31 11:16:03 +01:00 |
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Crozet Sébastien
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64507a68e1
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Refactor the constraints solver code.
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2020-12-31 10:32:34 +01:00 |
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Crozet Sébastien
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348a339fe3
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Remove code related to point-point kinematics.
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2020-12-31 10:02:51 +01:00 |
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Crozet Sébastien
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eea888af93
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Fix broken position constraint.
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2020-12-30 18:33:01 +01:00 |
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Crozet Sébastien
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5e35250183
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Define the MAX_MANIFOLD_POINTS in this crate.
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2020-12-30 17:46:22 +01:00 |
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Crozet Sébastien
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43628c8846
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Try using solver contacts again, but in a more cache-coherent way.
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2020-12-30 17:30:07 +01:00 |
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Crozet Sébastien
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7545e06cb1
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Attempt to combine the position constraints initialization with the velocity constraints initialization.
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2020-12-30 12:03:25 +01:00 |
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Crozet Sébastien
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5876a262da
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Remove the useless manifold.data.pair field.
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2020-12-30 11:44:08 +01:00 |
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Crozet Sébastien
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94c67a0c31
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Support compound shapes.
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2020-12-29 11:36:19 +01:00 |
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Crozet Sébastien
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8d925a02ef
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Add convex polygons support.
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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486fbd972f
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Add example for 3D convex polyhedron.
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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0fb4b4faef
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Use Isometry::inv_mul.
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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7488cd02e8
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Remove unused constrants.
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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0d2eb5f2e0
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Remove some commented code.
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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a0c2a2c309
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Fix compilation when serde is enabled.
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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5c38113690
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Fix compilation when serde isn't enabled.
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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8fe2df126a
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Remove some irrelevant code.
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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29717c2887
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Externalize the proximity code (renamed intersection).
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2020-12-29 11:31:59 +01:00 |
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Crozet Sébastien
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e231bacec6
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Move all the contact manifold computations out of Rapier.
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2020-12-29 11:31:00 +01:00 |
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Crozet Sébastien
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cc6d1b9730
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Outsource the Shape trait, wquadtree, and shape types.
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2020-12-29 11:31:00 +01:00 |
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Crozet Sébastien
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9bf1321f8f
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Outsource the contact manifold, SAT, and some shapes.
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2020-12-29 11:31:00 +01:00 |
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Crozet Sébastien
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aada91966a
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Add a RigidBody::set_mass_properties method.
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2020-12-02 11:26:20 +01:00 |
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Crozet Sébastien
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bde828cdab
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Fix a bug when applying the parallel axis theorem to the angular inertia matrix is incorrect if the mass is zero.
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2020-12-02 11:12:26 +01:00 |
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Crozet Sébastien
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a072d4056a
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Rename RigidBodyBuilder::principal_inertia -> principal_angular_inertia for clarity.
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2020-12-01 15:07:04 +01:00 |
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Crozet Sébastien
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1e0f76b02c
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Add a 2D demo for locking rotation.
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2020-11-30 15:41:32 +01:00 |
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Crozet Sébastien
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715d0fe16e
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Update the changelog + make the boolean flags more intuitive.
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2020-11-30 15:35:36 +01:00 |
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Crozet Sébastien
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c3e951f896
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Add a simpler to lock the rotation or translation of a dynamic rigid-body.
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2020-11-30 15:26:22 +01:00 |
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Crozet Sébastien
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340f614d32
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Restore the previous sleeping pattern.
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2020-11-26 12:49:35 +01:00 |
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Crozet Sébastien
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391bcf372a
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Fix collider insertion/removal tracking.
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2020-11-26 11:41:54 +01:00 |
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Crozet Sébastien
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f293dc6024
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Fix bogus collider removal in the broad-phase.
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2020-11-26 11:40:59 +01:00 |
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Crozet Sébastien
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7541108746
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Make the RigidBodyChanges values more readable.
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2020-11-25 16:34:43 +01:00 |
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Crozet Sébastien
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2d4e14b869
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Properly track some user-initiatied rigid-body modifications.
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2020-11-25 16:28:49 +01:00 |
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Crozet Sébastien
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d98be2359d
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Add methods to iterate through all the contact and proximity pairs.
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2020-11-24 16:39:09 +01:00 |
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Crozet Sébastien
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437748096d
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Allow retrieving one specific contact pair or proximity pair.
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2020-11-24 15:21:27 +01:00 |
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Crozet Sébastien
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dc63c28f56
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Fix crash when removing a collider with no graph ID.
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2020-11-24 14:57:37 +01:00 |
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Crozet Sébastien
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af39ec54d3
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Remove the narrow-phase graph indices from the collider.
They are on the narrow-phase now.
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2020-11-23 15:56:53 +01:00 |
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Crozet Sébastien
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000aad0a3c
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Fix NaNs in unused WAABB lanes during the creation of the WAABBTree.
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2020-11-22 16:35:59 +01:00 |
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