Sébastien Crozet
9b87f06a85
feat: implement new "small-steps" solver + joint improvements
2024-01-21 21:02:27 +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
f74b8401ad
Implement multibody joints and the new solver
2022-01-02 16:58:36 +01:00
Crozet Sébastien
0e4393ba9e
Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart.
2021-03-07 17:15:32 +01:00
Crozet Sébastien
c28b14d31c
Refactor the parallel solver code the same way we did with the non-parallel solver.
2021-01-04 17:59:56 +01:00
Crozet Sébastien
64507a68e1
Refactor the constraints solver code.
2020-12-31 10:32:34 +01:00
Sébastien Crozet
754a48b7ff
First public release of Rapier.
2020-08-25 22:10:25 +02:00
