Sébastien Crozet
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eb8f6d360d
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Fix 2D ball joint limits.
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2021-08-08 18:38:12 +02:00 |
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Sébastien Crozet
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f7643272f4
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Implement limits for ball joints.
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2021-08-08 18:38:12 +02:00 |
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Sébastien Crozet
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ac77c95c9c
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Implement limits for revolute joints.
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2021-08-08 18:38:12 +02:00 |
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Crozet Sébastien
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826ce5f014
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Rework the event system
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2021-06-01 12:36:01 +02:00 |
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Crozet Sébastien
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1bef66fea9
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Add prelude + use vectors for setting linvel/translation in builders
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2021-05-25 11:00:13 +02:00 |
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Crozet Sébastien
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c32da78f2a
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Split rigid-bodies and colliders into multiple components
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2021-04-26 18:00:50 +02:00 |
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Crozet Sébastien
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a4fe46b5c4
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Fix compilation in 2D.
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2021-04-13 13:42:18 +02:00 |
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Crozet Sébastien
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d70c6f82e3
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Fix torque generation for the prismatic joint motor
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2021-04-13 11:44:34 +02:00 |
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Crozet Sébastien
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da9c3db5e8
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Switch to nalgebra 0.26
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2021-04-12 17:22:18 +02:00 |
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Crozet Sébastien
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97157c9423
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First working version of non-linear CCD based on single-substep motion-clamping.
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2021-03-26 18:16:27 +01:00 |
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Emil Ernerfeldt
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115bae172d
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fix the body-body revolute angle velocity erp
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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f517601e17
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Final cleanup
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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54eae9bb7b
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simplify prismatic limits
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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4ef7b1cefe
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Fix primatic wide
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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a0824772c9
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fix the revolute wide
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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9bbb081539
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fix narrow revolute velocity
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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4ee09a8bc9
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Fix the narrow pismatic velocity constraint
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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59796e4767
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fix
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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48afbac6ce
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Implement revolute wide
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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89de6903dc
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Implement prismatic wide
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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27366e27ff
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Implement fixed wide
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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48708d9a76
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Implement revolute narrow
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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d3f39a9bab
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Implemented prismatic narrow. Needs testing and close review
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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ede4f0f770
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cleanup
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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3f26b46196
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Implement ball wide
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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4162aed2a0
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Add params.velocity_based_erp_inv_dt() helper
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2021-02-26 11:06:29 +01:00 |
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Emil Ernerfeldt
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21247a1236
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Add restorative impulse in velocity solver
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2021-02-26 11:06:29 +01:00 |
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Crozet Sébastien
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0eec28325e
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Fix warnings.
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2021-02-22 14:20:06 +01:00 |
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Crozet Sébastien
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4c9138fd2b
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Some minor cleanup and joint constraint refactoring.
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2021-02-22 13:58:43 +01:00 |
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Crozet Sébastien
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052a5a5fc0
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Make Simd prismatic joint limit code transmit torque.
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2021-02-22 13:44:38 +01:00 |
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Crozet Sébastien
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73192d41c2
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Make prismatic joint limit transmit torque.
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2021-02-22 13:22:15 +01:00 |
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Crozet Sébastien
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aaba6c8927
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Add motors to prismatic joints.
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2021-02-22 12:12:24 +01:00 |
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Crozet Sébastien
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f204a5f736
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Take max motor impulse into account for the ball joint.
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2021-02-22 10:15:13 +01:00 |
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Crozet Sébastien
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01496d43e5
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Add motors to ball joints.
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2021-02-21 17:15:00 +01:00 |
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Crozet Sébastien
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f5515c3973
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Fix lever-arm handling in the revolute joint.
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2021-02-21 17:14:43 +01:00 |
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Crozet Sébastien
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dc8ccc0c30
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Make revolute joint actuation work properly even when SIMD is enabled.
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2021-02-19 17:32:09 +01:00 |
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Crozet Sébastien
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e9f17f32e8
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Complete the implementation of non-simd joint motor for the revolute joint.
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2021-02-19 15:21:25 +01:00 |
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Crozet Sébastien
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a1ddda5077
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Revolute joint constraints: properly adjust the angular impulse and torque projection.
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2021-02-17 15:57:58 +01:00 |
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Crozet Sébastien
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4f8f8017f4
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Properly writeback the generic constrainst impulse when it comes from a revolute joint.
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2021-02-15 16:44:55 +01:00 |
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Crozet Sébastien
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ebd5562af3
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Generic velocity constraint: split the translation and rotation terms.
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2021-02-15 12:08:18 +01:00 |
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Crozet Sébastien
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de39a41faa
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Implement non-linear position stabilization for the generic constraint.
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2021-02-15 11:20:09 +01:00 |
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Crozet Sébastien
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d9b6198fa0
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Various generic joint fixes.
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2021-02-12 16:00:57 +01:00 |
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Crozet Sébastien
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cc80e40067
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More experiments with the way the generic joint is stabilized.
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2021-02-11 18:52:07 +01:00 |
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Crozet Sébastien
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5b80c4efbf
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Start experimenting with a generic joint implementation for joint drives.
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2021-02-11 15:58:46 +01:00 |
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Emil Ernerfeldt
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85bc81d4fc
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Make clippy a bit happier
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2021-02-04 13:11:04 +01:00 |
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Crozet Sébastien
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8f7220f03d
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Rename cdl to parry.
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2021-01-24 11:13:44 +01:00 |
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Crozet Sébastien
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00caa7ce35
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Fix warnings and 2D compilation when parallelism is ON but SIMD is OFF.
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2021-01-23 13:02:06 +01:00 |
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Crozet Sébastien
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8f330b2a00
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Rotation locking: apply filter only to the world inertia properties to fix the multi-collider case.
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2021-01-21 14:58:40 +01:00 |
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Crozet Sébastien
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d69b5876f3
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Fix velocity constraints for ball joints involving bodies with non-uniform angular inertia.
Fix #86
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2021-01-20 17:20:01 +01:00 |
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Crozet Sébastien
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28b7866aee
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Switch to [u32; DIM] instead of Point<u32> for element indices.
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2021-01-20 15:40:00 +01:00 |
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