github/rapier.git/src/dynamics/solver/velocity_constraint_wide.rs, branch v0.7.1

Attenuate the warmstart impulse for CCD contacts.

2021-03-28T09:27:07+00:00

CCD contacts result in very strong, instantaneous, impulses. So it is preferable to attenuate their contribution to subsequent timesteps to avoid overshooting.

Fix regression causing invalid contacts to be solved.

2021-03-07T16:34:54+00:00

Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart.

2021-03-07T16:15:32+00:00

Projection friction impulses on an implicit cone instead of a pyramidal approximation.

2021-03-07T10:44:19+00:00

Implement ground wide

2021-02-26T10:06:29+00:00

Implement dominance.

2021-02-24T12:26:51+00:00

Properly take the tangent_velocity into account in the velocity solver.

2021-02-23T14:47:24+00:00

Use contact ids instead of contact reordering in order to identify the impulse writeback location.

2021-02-22T16:52:03+00:00

Always apply the predictive contact term, even for bouncing contacts

2021-02-18T16:58:17+00:00

New contacts are bouncy, old are resting

2021-02-18T14:41:46+00:00

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.