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
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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
152ada67ec
Fix regression causing invalid contacts to be solved.
2021-03-07 17:34:54 +01:00
0e4393ba9e
Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart.
2021-03-07 17:15:32 +01:00
4cb1f5c692
Fix warning when targetting wasm.
2021-03-07 11:55:10 +01:00
bed47a82e7
Projection friction impulses on an implicit cone instead of a pyramidal approximation.
2021-03-07 11:44:19 +01:00
115bae172d
fix the body-body revolute angle velocity erp
2021-02-26 11:06:29 +01:00
f517601e17
Final cleanup
2021-02-26 11:06:29 +01:00
54eae9bb7b
simplify prismatic limits
2021-02-26 11:06:29 +01:00
4ef7b1cefe
Fix primatic wide
2021-02-26 11:06:29 +01:00
a0824772c9
fix the revolute wide
2021-02-26 11:06:29 +01:00
9bbb081539
fix narrow revolute velocity
2021-02-26 11:06:29 +01:00
4ee09a8bc9
Fix the narrow pismatic velocity constraint
2021-02-26 11:06:29 +01:00
59796e4767
fix
2021-02-26 11:06:29 +01:00
b94cdfa782
Implement ground wide
2021-02-26 11:06:29 +01:00
48afbac6ce
Implement revolute wide
2021-02-26 11:06:29 +01:00
89de6903dc
Implement prismatic wide
2021-02-26 11:06:29 +01:00
27366e27ff
Implement fixed wide
2021-02-26 11:06:29 +01:00
48708d9a76
Implement revolute narrow
2021-02-26 11:06:29 +01:00
d3f39a9bab
Implemented prismatic narrow. Needs testing and close review
2021-02-26 11:06:29 +01:00
ede4f0f770
cleanup
2021-02-26 11:06:29 +01:00
Sébastien Crozet
Jamen Marz
Terence
Emil Ernerfeldt