4 Commits

Author	SHA1	Message	Date
Sébastien Crozet	db6a8c526d	Fix warnings and add comments.	2022-03-20 21:49:16 +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	87ec0ced40	Address issues with the genral-case for multibody joints	2022-01-08 21:09:11 +01:00
Sébastien Crozet	f74b8401ad	Implement multibody joints and the new solver	2022-01-02 16:58:36 +01:00