5a0e6471cd
Fix crash caused by a collider being remove before the first timestep.
2021-04-03 12:03:49 +02:00
d9d89afb6e
Fix determinism problem in the broad-phase after snapshot restoration.
2021-04-02 16:23:20 +02:00
e66740e950
Release v0.7.0
2021-04-02 14:20:51 +02:00
a484511718
ColliderSet::handle_user_changes - don't drain the set of modified colliders.
2021-03-31 18:12:00 +02:00
a6b8b4b638
Fix tests.
2021-03-31 17:46:59 +02:00
365cce73f5
Make the collider shape mutable.
2021-03-31 14:07:32 +02:00
d2ee642053
CCD: take angular motion and penetration depth into account in various thresholds.
2021-03-30 17:10:50 +02:00
8173e7ada2
Allow collider modification after its insersion to the ColliderSet.
2021-03-29 14:54:54 +02:00
dec3e4197f
Small refactoring of the PhysicsPipeline.
2021-03-28 11:54:33 +02:00
7306821c46
Attenuate the warmstart impulse for CCD contacts.
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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
710dd8d71e
Fix bug wher ethe broad-phase could miss some contacts pairs.
2021-03-26 18:16:51 +01:00
97157c9423
First working version of non-linear CCD based on single-substep motion-clamping.
2021-03-26 18:16:27 +01:00
326469a1df
Fix the last few bugs and unbounded memory usage.
2021-03-17 09:34:56 +01:00
d82a675b46
Experiment with a smaller region power basis.
2021-03-13 19:32:27 +01:00
b2c0f62003
Some tunning of the way layers are attributed to a collider.
2021-03-13 19:19:12 +01:00
3a1502be74
First complete implementation of the hierarchical SAP.
2021-03-13 18:00:58 +01:00
a967ace7d4
Start implementing SAPLayer creation and insertion.
2021-03-08 18:27:06 +01:00
7983c25606
Start introducing SAP layers.
2021-03-08 15:32:04 +01:00
0b80bc827c
Split the broad-phase code into multiple files.
2021-03-08 15:32:04 +01:00
808ea02672
Merge pull request #141 from EmbarkStudios/per-collider-mass-props
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Per collider mass props
2021-03-08 10:38:31 +01:00
0370e7e37d
Store either density or mass properties but not both
2021-03-08 10:12:12 +01:00
05614dc471
docstring/spelling
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:28 +01:00
22a402983c
docstring/spelling
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:21 +01:00
5154233176
docstring/spelling
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:13 +01:00
018cc23639
docstring/spelling
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2021-03-08 10:04:07 +01:00
bed47a82e7
Projection friction impulses on an implicit cone instead of a pyramidal approximation.
2021-03-07 11:44:19 +01:00
0909077094
Use Box<Option<MassProperties>> instead to save on memory
2021-03-05 12:04:27 +01:00
64af425227
Add ability to set MassProperties for each ColliderBuilder
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Fix https://github.com/dimforge/rapier/issues/132
2021-03-05 11:57:08 +01:00
e45342d365
Fix determinism issue after restoring a snapshot.
2021-03-02 11:24:56 +01:00
f53d0438ed
Contact modification: make the contact normal modifiable too.
2021-02-25 15:40:54 +01:00
96ecb877e2
Implement dominance.
2021-02-24 13:26:51 +01:00
0f0f2c344f
Rename modify_contacts -> modify_solver_contacts.
2021-02-23 16:02:19 +01:00
babcab0bed
Update the testbed to use PhysicsHooks.
2021-02-23 15:49:23 +01:00
4ca32a9546
Add one-way platform + conveyor belt demos.
2021-02-23 15:43:43 +01:00
00706e8b36
Introduce the PhysicsHook trait used for both contact filtering and contact modification.
2021-02-23 11:24:54 +01:00
ad5c10672e
Use contact ids instead of contact reordering in order to identify the impulse writeback location.
2021-02-22 17:52:03 +01:00
f9e3d382d2
New contacts are bouncy, old are resting
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If a contact is new (previous impluse = 0), then we treat it as bouncy (respecting restitution).
If the contact is old we treat it as resting.
Exceptions for restitutions <=0 and >= 1.
2021-02-18 15:41:46 +01:00
f2d9225101
Add ColliderHandle:s to PairFilterContext
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This makes it easy to write custom filters based on the handles.
For instance, a user can add pairs of `ColliderHandle`s into a `HashSet` and
do a lookup in a `ContactPairFilter` to easily (if maybe not efficiently)
disable collisions between pairs of colliders.
The same could be accomplished by using the `user_data: u128` field of the
`Collider`, but it would be less ergonomic, and also with this PR that
`user_data` space can be saved for more important things.
2021-02-17 11:19:51 +01:00
365426555c
Fix a small documentation typo
2021-02-13 20:03:51 -08:00
e24d73a255
Don't serialize solver contacts + remove erased-serde dependency.
2021-02-08 10:47:58 +01:00
85bc81d4fc
Make clippy a bit happier
2021-02-04 13:11:04 +01:00
8ff2bcc3ec
Add all the missing docs.
2021-01-27 14:20:14 +01:00
23a86c294e
Allow using polylines as a collider shape.
2021-01-26 16:41:21 +01:00
e1f50eb6e8
Fix compilation with f64.
2021-01-25 17:33:28 +01:00
4799a81214
Add missing constructor for a round-triangle collider.
2021-01-25 17:22:57 +01:00
8f7220f03d
Rename cdl to parry.
2021-01-24 11:13:44 +01:00
90db26eb50
Fix warnings in tests and testbed.
2021-01-23 13:34:03 +01:00
e45e5f109c
Fix WASM build.
2021-01-23 13:11:00 +01:00
57072f3ba7
Move ColliderShape out of Rapier.
2021-01-22 18:10:54 +01:00
b779eb261e
Fix compilation in 2D.
2021-01-22 16:43:16 +01:00
Crozet Sébastien
Emil Ernerfeldt
Alec Deason