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e40d3a9dce2bee0c4c96a6fddc84ff896ca57d01
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39 Commits

Author SHA1 Message Date
Sébastien Crozet
134f433903 feat: solver improvements + release v0.29.0 (#876) 
* feat: solver improvements

* feat: add function to get/set whether gyroscopic forces are enabled on a rigid-body

* chore: switch to released versions of parry and wide instead of local patches

* fix cargo doc

* chore: typo fixes

* chore: clippy fix

* Release v0.29.0

* chore: more clippy fixes
 2025-09-05 19:31:58 +02:00
Thierry Berger
510237cc29 Profiling support (#743) 2024-11-19 16:33:26 +01:00
Sébastien Crozet
3004a7d38d chore: update to nalgebra 0.33 and parry 0.16 (#664) 2024-06-23 22:57:51 +02:00
Sébastien Crozet
9b87f06a85 feat: implement new "small-steps" solver + joint improvements 2024-01-21 21:02:27 +01:00
Sébastien Crozet
55373b3fa6 chore: update testbed to bevy 0.12 2023-12-10 12:11:20 +01:00
Sébastien Crozet
ee10a90f9b Release v0.14 2022-07-09 12:54:51 +02:00
Sébastien Crozet
7831ebfc31 Add methods to read the mass or volume of a collider. 2022-07-05 15:15:17 +02:00
Sébastien Crozet
5063fa4203 Testbed: switch to bevy 0.7 2022-04-28 13:19:58 +02:00
Sébastien Crozet
063c638ec5 Combine contact events and intersection events into a single event type and flags 2022-03-20 21:49:16 +01:00
Sébastien Crozet
a9e3441ecd Rename rigid-body static to fixed 2022-03-20 21:49:16 +01:00
Sébastien Crozet
412fedf7e3 Start fixing the parallel version. 2022-03-20 21:49:16 +01:00
Sébastien Crozet
f74b8401ad Implement multibody joints and the new solver 2022-01-02 16:58:36 +01:00
Crozet Sébastien
1bef66fea9 Add prelude + use vectors for setting linvel/translation in builders 2021-05-25 11:00:13 +02:00
Crozet Sébastien
2dfbd9ae92 Add comments. 2021-04-30 11:37:58 +02:00
Crozet Sébastien
c32da78f2a Split rigid-bodies and colliders into multiple components 2021-04-26 18:00:50 +02:00
Crozet Sébastien
a733f97028 Implement the ability to run multiple CCD substeps. 2021-03-29 17:21:49 +02:00
Crozet Sébastien
97157c9423 First working version of non-linear CCD based on single-substep motion-clamping. 2021-03-26 18:16:27 +01:00
Crozet Sébastien
a967ace7d4 Start implementing SAPLayer creation and insertion. 2021-03-08 18:27:06 +01:00
Crozet Sébastien
bed47a82e7 Projection friction impulses on an implicit cone instead of a pyramidal approximation. 2021-03-07 11:44:19 +01:00
Crozet Sébastien
e9f17f32e8 Complete the implementation of non-simd joint motor for the revolute joint. 2021-02-19 15:21:25 +01:00
Crozet Sébastien
5b80c4efbf Start experimenting with a generic joint implementation for joint drives. 2021-02-11 15:58:46 +01:00
Crozet Sébastien
cf52e01308 Merge branch 'master' into split_geom 
# 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
Emil Ernerfeldt
315493ebfb IntegrationParameters: deprectate dt() and inv_dt() methods 2021-01-22 13:38:59 +01:00
Crozet Sébastien
e2006599a8 Add 3D convex decomposition example. 2021-01-20 15:15:33 +01:00
Crozet Sébastien
d1ed279c4e Tesbted physx backend: add heightfield, trimesh, and convex mesh support. 2021-01-06 12:22:46 +01:00
Crozet Sébastien
1e9a962d34 Testbed physx backend: re-add joints. 2021-01-05 17:07:26 +01:00
Crozet Sébastien
27ebb541f8 Start upgrading to physx 0.10. 2020-12-29 11:31:59 +01:00
Crozet Sébastien
2d4e14b869 Properly track some user-initiatied rigid-body modifications. 2020-11-25 16:28:49 +01:00
Crozet Sébastien
5ce3606582 Add explicit wake_up parameter to method setting the position and velocity of a rigid-body. 2020-11-19 18:13:39 +01:00
Crozet Sébastien
08930b1238 Fix multiple warnings. 2020-10-26 16:36:07 +01:00
Crozet Sébastien
2b628f9580 Redefine capsules as a segment with a radius, allowing us to reuse the pfm_pfm_contact generator for it. 2020-10-26 15:58:30 +01:00
Crozet Sébastien
3da333f11c Fix testbed compilation with other backends. 2020-10-26 15:12:10 +01:00
Crozet Sébastien
2d0a888484 Make the query pipeline serializable. 2020-10-05 16:52:09 +02:00
Crozet Sébastien
a60e1e030d Disable physx query shapes for now. 2020-09-28 15:27:25 +02:00
Sébastien Crozet
3c85a6ac41 Start implementing ray-casting. 
This adds a QueryPipeline structure responsible for scene queries.
Currently this structure is able to perform a brute-force ray-cast.
This commit also includes the beginning of implementation of a SIMD-based acceleration structure which will be used for these scene queries in the future.
 2020-09-28 15:27:25 +02:00
Sébastien Crozet
fc0b3bf394 Mass properties: add a max number of iterations for the local-frame rotation computation. 2020-09-01 17:35:32 +02:00
Sébastien Crozet
2f2a073ce4 Fix mass property update when adding a collider. 2020-09-01 17:05:24 +02:00
Sébastien Crozet
ce26fe1077 Add compound demo. 2020-08-31 19:05:14 +02:00
Sébastien Crozet
754a48b7ff First public release of Rapier. 2020-08-25 22:10:25 +02:00