a9e3441ecd
Rename rigid-body static to fixed
2022-03-20 21:49:16 +01:00
db6a8c526d
Fix warnings and add comments.
2022-03-20 21:49:16 +01:00
a041e0d314
Add 2-axes coupling for angular joint limits
2022-03-20 21:49:16 +01:00
1535db87c7
Add a max penetration correction integration parameter
2022-03-20 21:49:16 +01:00
891c08177d
Rebase on master branch
2022-03-20 21:49:16 +01:00
815de4beff
Complete the parallel solver fix
2022-03-20 21:49:16 +01:00
2e6f133b95
Second round to fix the parallel solver.
2022-03-20 21:49:16 +01:00
412fedf7e3
Start fixing the parallel version.
2022-03-20 21:49:16 +01:00
fb20d72ee2
Joint API and joint motors improvements
2022-03-20 21:49:16 +01:00
e740493b98
Minor island solver simplification
2022-03-20 21:49:16 +01:00
15b165893c
Use WReal instead of SimdRealField everywhere
2022-02-21 21:19:30 +01:00
3e25e3efba
Fix the application of damping to bodies part of an active island
2022-01-28 20:28:49 +01:00
0c7ebae1aa
Run cargo fmt
2022-01-23 18:04:24 +01:00
536122e080
add defaults for the several structs
2022-01-23 18:01:50 +01:00
5e2111bdb1
Fix compilation of parallel version
2022-01-23 17:06:42 +01:00
9bfcde25e0
Run cargo fmt
2022-01-23 16:59:03 +01:00
78c8bc6cde
Improve cfm configuration using the critical damping factor
2022-01-23 16:50:26 +01:00
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
8213e92f14
Fix parallel build.
2022-01-16 16:37:44 +01:00
b631fe9193
Allow locking individual translational axes
2022-01-09 22:15:36 +01:00
87ec0ced40
Address issues with the genral-case for multibody joints
2022-01-08 21:09:11 +01:00
fcf9e61e28
Fix warnings
2022-01-02 17:25:15 +01:00
f74b8401ad
Implement multibody joints and the new solver
2022-01-02 16:58:36 +01:00
7aa94e994f
Impl Default for a few structs
2021-09-25 13:50:12 +02:00
57aec69c1e
Update to nalgebra 0.29
2021-08-08 19:19:16 +02:00
13aebc4242
Fix warnings.
2021-08-08 18:38:12 +02:00
16af01da42
Run cargo fmt
2021-08-08 18:38:12 +02:00
eb8f6d360d
Fix 2D ball joint limits.
2021-08-08 18:38:12 +02:00
f7643272f4
Implement limits for ball joints.
2021-08-08 18:38:12 +02:00
ac77c95c9c
Implement limits for revolute joints.
2021-08-08 18:38:12 +02:00
fd778b607f
Fix emscripten build + add emscripten build to the CI
2021-07-30 11:29:32 +02:00
8a3103a35b
Merge pull request #195 from tpdickso/ungenerate-nans
...
Add feature flag to disable floating point exceptions in unexceptional code
2021-06-02 17:26:47 +02:00
94993901cd
wip
2021-06-01 20:41:38 -04:00
826ce5f014
Rework the event system
2021-06-01 12:36:01 +02:00
1bef66fea9
Add prelude + use vectors for setting linvel/translation in builders
2021-05-25 11:00:13 +02:00
5cf805075e
Fix compilation of the parallel version
2021-04-29 12:09:35 +02:00
3810466326
Fix some warnings
2021-04-29 10:33:07 +02:00
c32da78f2a
Split rigid-bodies and colliders into multiple components
2021-04-26 18:00:50 +02:00
a4fe46b5c4
Fix compilation in 2D.
2021-04-13 13:42:18 +02:00
d70c6f82e3
Fix torque generation for the prismatic joint motor
2021-04-13 11:44:34 +02:00
da9c3db5e8
Switch to nalgebra 0.26
2021-04-12 17:22:18 +02:00
cc3f16eb85
Fix parallel build.
2021-04-01 10:22:00 +02:00
0ecc302971
Some small performance improvements.
2021-04-01 10:11:32 +02:00
4e84c122df
Fix more warnings.
2021-03-31 16:55:18 +02:00
e9f6384081
Fix the parallel solver to work properly with CCD.
2021-03-31 10:53:44 +02:00
88933bd431
Run the position solver after the CCD motion clamping.
2021-03-30 17:11:52 +02:00
d2ee642053
CCD: take angular motion and penetration depth into account in various thresholds.
2021-03-30 17:10:50 +02:00
7306821c46
Attenuate the warmstart impulse for CCD contacts.
...
CCD contacts result in very strong, instantaneous, impulses. So it is preferable to attenuate their contribution to subsequent timesteps to avoid overshooting.
2021-03-28 11:27:07 +02:00
97157c9423
First working version of non-linear CCD based on single-substep motion-clamping.
2021-03-26 18:16:27 +01:00
8dab63bda1
Fix regression in the WASM version of the velocity solver.
2021-03-08 15:14:54 +01:00
Sébastien Crozet
zhguchev
Jamen Marz
Terence