d2ee642053
CCD: take angular motion and penetration depth into account in various thresholds.
2021-03-30 17:10:50 +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
97157c9423
First working version of non-linear CCD based on single-substep motion-clamping.
2021-03-26 18:16:27 +01:00
8dab63bda1
Fix regression in the WASM version of the velocity solver.
2021-03-08 15:14:54 +01:00
152ada67ec
Fix regression causing invalid contacts to be solved.
2021-03-07 17:34:54 +01:00
0e4393ba9e
Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart.
2021-03-07 17:15:32 +01:00
4cb1f5c692
Fix warning when targetting wasm.
2021-03-07 11:55:10 +01:00
bed47a82e7
Projection friction impulses on an implicit cone instead of a pyramidal approximation.
2021-03-07 11:44:19 +01:00
115bae172d
fix the body-body revolute angle velocity erp
2021-02-26 11:06:29 +01:00
f517601e17
Final cleanup
2021-02-26 11:06:29 +01:00
54eae9bb7b
simplify prismatic limits
2021-02-26 11:06:29 +01:00
4ef7b1cefe
Fix primatic wide
2021-02-26 11:06:29 +01:00
a0824772c9
fix the revolute wide
2021-02-26 11:06:29 +01:00
9bbb081539
fix narrow revolute velocity
2021-02-26 11:06:29 +01:00
4ee09a8bc9
Fix the narrow pismatic velocity constraint
2021-02-26 11:06:29 +01:00
59796e4767
fix
2021-02-26 11:06:29 +01:00
b94cdfa782
Implement ground wide
2021-02-26 11:06:29 +01:00
48afbac6ce
Implement revolute wide
2021-02-26 11:06:29 +01:00
89de6903dc
Implement prismatic wide
2021-02-26 11:06:29 +01:00
27366e27ff
Implement fixed wide
2021-02-26 11:06:29 +01:00
48708d9a76
Implement revolute narrow
2021-02-26 11:06:29 +01:00
d3f39a9bab
Implemented prismatic narrow. Needs testing and close review
2021-02-26 11:06:29 +01:00
ede4f0f770
cleanup
2021-02-26 11:06:29 +01:00
3f26b46196
Implement ball wide
2021-02-26 11:06:29 +01:00
4162aed2a0
Add params.velocity_based_erp_inv_dt() helper
2021-02-26 11:06:29 +01:00
21247a1236
Add restorative impulse in velocity solver
2021-02-26 11:06:29 +01:00
9cdd34c741
Fix the parallel build.
2021-02-24 13:40:26 +01:00
96ecb877e2
Implement dominance.
2021-02-24 13:26:51 +01:00
3cc2738e5f
Fix warnings in the WASM build.
2021-02-23 16:47:48 +01:00
3fdb4cd6d3
Properly take the tangent_velocity into account in the velocity solver.
2021-02-23 15:47:24 +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
d31a327b45
Merge pull request #119 from dimforge/joint_drive
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Add joint motors
2021-02-22 17:40:29 +01:00
0eec28325e
Fix warnings.
2021-02-22 14:20:06 +01:00
4c9138fd2b
Some minor cleanup and joint constraint refactoring.
2021-02-22 13:58:43 +01:00
052a5a5fc0
Make Simd prismatic joint limit code transmit torque.
2021-02-22 13:44:38 +01:00
73192d41c2
Make prismatic joint limit transmit torque.
2021-02-22 13:22:15 +01:00
aaba6c8927
Add motors to prismatic joints.
2021-02-22 12:12:24 +01:00
f204a5f736
Take max motor impulse into account for the ball joint.
2021-02-22 10:15:13 +01:00
01496d43e5
Add motors to ball joints.
2021-02-21 17:15:00 +01:00
f5515c3973
Fix lever-arm handling in the revolute joint.
2021-02-21 17:14:43 +01:00
dc8ccc0c30
Make revolute joint actuation work properly even when SIMD is enabled.
2021-02-19 17:32:09 +01:00
e9f17f32e8
Complete the implementation of non-simd joint motor for the revolute joint.
2021-02-19 15:21:25 +01:00
5e7eedc3fd
Always apply the predictive contact term, even for bouncing contacts
2021-02-18 17:58:17 +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
a1ddda5077
Revolute joint constraints: properly adjust the angular impulse and torque projection.
2021-02-17 15:57:58 +01:00
4f8f8017f4
Properly writeback the generic constrainst impulse when it comes from a revolute joint.
2021-02-15 16:44:55 +01:00
ebd5562af3
Generic velocity constraint: split the translation and rotation terms.
2021-02-15 12:08:18 +01:00
de39a41faa
Implement non-linear position stabilization for the generic constraint.
2021-02-15 11:20:09 +01:00
d9b6198fa0
Various generic joint fixes.
2021-02-12 16:00:57 +01:00
cc80e40067
More experiments with the way the generic joint is stabilized.
2021-02-11 18:52:07 +01:00
Crozet Sébastien
Emil Ernerfeldt