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
97157c9423
First working version of non-linear CCD based on single-substep motion-clamping.
2021-03-26 18:16:27 +01:00
a967ace7d4
Start implementing SAPLayer creation and insertion.
2021-03-08 18:27:06 +01:00
bed47a82e7
Projection friction impulses on an implicit cone instead of a pyramidal approximation.
2021-03-07 11:44:19 +01:00
babcab0bed
Update the testbed to use PhysicsHooks.
2021-02-23 15:49:23 +01:00
00706e8b36
Introduce the PhysicsHook trait used for both contact filtering and contact modification.
2021-02-23 11:24:54 +01:00
e9f17f32e8
Complete the implementation of non-simd joint motor for the revolute joint.
2021-02-19 15:21:25 +01:00
5b80c4efbf
Start experimenting with a generic joint implementation for joint drives.
2021-02-11 15:58:46 +01:00
e24d73a255
Don't serialize solver contacts + remove erased-serde dependency.
2021-02-08 10:47:58 +01:00
a3324f8513
Fix compilation of the 3D testbed.
2021-01-26 16:59:30 +01:00
23a86c294e
Allow using polylines as a collider shape.
2021-01-26 16:41:21 +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
00caa7ce35
Fix warnings and 2D compilation when parallelism is ON but SIMD is OFF.
2021-01-23 13:02:06 +01:00
b779eb261e
Fix compilation in 2D.
2021-01-22 16:43:16 +01:00
99c2184e13
Fix regressions introduced by the merge with master.
2021-01-22 16:33:55 +01:00
cf52e01308
Merge branch 'master' into split_geom
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# Conflicts:
# examples2d/sensor2.rs
# examples3d/sensor3.rs
# src/dynamics/integration_parameters.rs
# src/dynamics/solver/parallel_island_solver.rs
# src/dynamics/solver/velocity_constraint.rs
# src/dynamics/solver/velocity_ground_constraint.rs
# src_testbed/nphysics_backend.rs
# src_testbed/physx_backend.rs
# src_testbed/testbed.rs
2021-01-22 16:10:24 +01:00
315493ebfb
IntegrationParameters: deprectate dt() and inv_dt() methods
2021-01-22 13:38:59 +01:00
d69b5876f3
Fix velocity constraints for ball joints involving bodies with non-uniform angular inertia.
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Fix #86
2021-01-20 17:20:01 +01:00
28b7866aee
Switch to [u32; DIM] instead of Point<u32> for element indices.
2021-01-20 15:40:00 +01:00
e2006599a8
Add 3D convex decomposition example.
2021-01-20 15:15:33 +01:00
261ed1ebed
Fix 2D compilation.
2021-01-06 12:53:26 +01:00
d1ed279c4e
Tesbted physx backend: add heightfield, trimesh, and convex mesh support.
2021-01-06 12:22:46 +01:00
1e9a962d34
Testbed physx backend: re-add joints.
2021-01-05 17:07:26 +01:00
00da4aaa42
Add compound shape support.
2021-01-05 15:34:48 +01:00
34e79e9afc
unify callbacks with & without graphics & window
2021-01-02 16:46:52 +11:00
7b098606c2
QueryPipeline: add shape casting, point projection, and intersection queries.
2020-12-31 16:30:38 +01:00
967145a949
Perform contact sorting in the narrow-phase directly.
2020-12-31 11:16:03 +01:00
ed76291fbf
remove some unused imports
2020-12-31 15:39:44 +11:00
5fb9304f4c
remove time from plugin.run_callbacks
2020-12-31 15:33:33 +11:00
6d5b6d778d
remove time field from HarnessPlugin trait
2020-12-31 15:29:09 +11:00
c300ce760c
cargo fmt
2020-12-31 15:26:11 +11:00
6f508e5d04
remove redundant time :f32 from harness callbacks. it can be access via run_state.time
2020-12-31 15:23:25 +11:00
1ac2d03fea
Revert "leading _ for run_state to squash warning"
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This reverts commit aaf2872e5c
2020-12-31 13:56:37 +11:00
26af08e03c
add harness_mut() to testbed
2020-12-31 13:25:05 +11:00
d992ebc488
remove unused use
2020-12-31 13:06:29 +11:00
aaf2872e5c
leading _ for run_state to squash warning
2020-12-31 13:06:13 +11:00
d51008903d
remove plugin callback related code from testbed
2020-12-31 12:14:38 +11:00
47e0ad4425
Update src_testbed/testbed.rs
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2020-12-31 12:00:33 +11:00
d75d325b49
remove comment
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2020-12-31 11:52:24 +11:00
75c80bff5f
TODO comment update
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Co-authored-by: Sébastien Crozet <sebastien@crozet.re >
2020-12-31 11:47:02 +11:00
5876a262da
Remove the useless manifold.data.pair field.
2020-12-30 11:44:08 +01:00
94c67a0c31
Support compound shapes.
2020-12-29 11:36:19 +01:00
8d925a02ef
Add convex polygons support.
2020-12-29 11:31:59 +01:00
27ebb541f8
Start upgrading to physx 0.10.
2020-12-29 11:31:59 +01:00
486fbd972f
Add example for 3D convex polyhedron.
2020-12-29 11:31:59 +01:00
0fb4b4faef
Use Isometry::inv_mul.
2020-12-29 11:31:59 +01:00
8fe2df126a
Remove some irrelevant code.
2020-12-29 11:31:59 +01:00
29717c2887
Externalize the proximity code (renamed intersection).
2020-12-29 11:31:59 +01:00
e231bacec6
Move all the contact manifold computations out of Rapier.
2020-12-29 11:31:00 +01:00
Crozet Sébastien
Emil Ernerfeldt
rezural
rezural