Implement multibody joints and the new solver

6 files changed, 0 insertions, 384 deletions

diff --git a/build/rapier2d-f64/Cargo.toml b/build/rapier2d-f64/Cargo.toml
deleted file mode 100644
index 5d85639..0000000
--- a/build/rapier2d-f64/Cargo.toml
+++ /dev/null
@@ -1,67 +0,0 @@
-[package]
-name    = "rapier2d-f64"
-version = "0.11.1"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-description = "2-dimensional physics engine in Rust."
-documentation = "http://docs.rs/rapier2d"
-homepage = "http://rapier.rs"
-repository = "https://github.com/dimforge/rapier"
-readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
-license = "Apache-2.0"
-edition = "2018"
-
-[badges]
-maintenance = { status = "actively-developed" }
-
-[features]
-default = [ "dim2", "f64", "default-sets" ]
-dim2    = [ ]
-f64     = [ ]
-default-sets = [ ]
-parallel = [ "rayon" ]
-simd-stable = [ "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
-# Do not enable this feature directly. It is automatically
-# enabled with the "simd-stable" or "simd-nightly" feature.
-simd-is-enabled = [ "vec_map" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry2d-f64/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry2d-f64/enhanced-determinism", "indexmap" ]
-
-# Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
-
-# Feature used for development and debugging only.
-# Do not enable this unless you are working on the engine internals.
-dev-remove-slow-accessors = []
-
-[lib]
-name = "rapier2d_f64"
-path = "../../src/lib.rs"
-required-features = [ "dim2", "f64" ]
-
-
-[dependencies]
-vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ]}
-num-traits = "0.2"
-nalgebra = "0.29"
-parry2d-f64 = "^0.7.1"
-simba = "0.6"
-approx = "0.5"
-rayon = { version = "1", optional = true }
-crossbeam = "0.8"
-arrayvec = "0.7"
-bit-vec = "0.6"
-rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
-indexmap = { version = "1", features = [ "serde-1" ], optional = true }
-downcast-rs = "1.2"
-num-derive = "0.3"
-bitflags = "1"
-
-[dev-dependencies]
-bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
diff --git a/build/rapier2d/Cargo.toml b/build/rapier2d/Cargo.toml
deleted file mode 100644
index 9bc5f3b..0000000
--- a/build/rapier2d/Cargo.toml
+++ /dev/null
@@ -1,67 +0,0 @@
-[package]
-name    = "rapier2d"
-version = "0.11.1"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-description = "2-dimensional physics engine in Rust."
-documentation = "http://docs.rs/rapier2d"
-homepage = "http://rapier.rs"
-repository = "https://github.com/dimforge/rapier"
-readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
-license = "Apache-2.0"
-edition = "2018"
-
-[badges]
-maintenance = { status = "actively-developed" }
-
-[features]
-default = [ "dim2", "f32", "default-sets" ]
-dim2    = [ ]
-f32     = [ ]
-default-sets = [ ]
-parallel = [ "rayon" ]
-simd-stable = [ "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "simba/packed_simd", "simd-is-enabled" ]
-# Do not enable this feature directly. It is automatically
-# enabled with the "simd-stable" or "simd-nightly" feature.
-simd-is-enabled = [ "vec_map" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry2d/serde-serialize", "serde", "bit-vec/serde", "arrayvec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry2d/enhanced-determinism", "indexmap" ]
-
-# Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
-
-# Feature used for development and debugging only.
-# Do not enable this unless you are working on the engine internals.
-dev-remove-slow-accessors = []
-
-[lib]
-name = "rapier2d"
-path = "../../src/lib.rs"
-required-features = [ "dim2", "f32" ]
-
-
-[dependencies]
-vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ]}
-num-traits = "0.2"
-nalgebra = "0.29"
-parry2d = "^0.7.1"
-simba = "0.6"
-approx = "0.5"
-rayon = { version = "1", optional = true }
-crossbeam = "0.8"
-arrayvec = "0.7"
-bit-vec = "0.6"
-rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
-indexmap = { version = "1", features = [ "serde-1" ], optional = true }
-downcast-rs = "1.2"
-num-derive = "0.3"
-bitflags = "1"
-
-[dev-dependencies]
-bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
diff --git a/build/rapier3d-f64/Cargo.toml b/build/rapier3d-f64/Cargo.toml
deleted file mode 100644
index a6cdd00..0000000
--- a/build/rapier3d-f64/Cargo.toml
+++ /dev/null
@@ -1,66 +0,0 @@
-[package]
-name    = "rapier3d-f64"
-version = "0.11.1"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-description = "3-dimensional physics engine in Rust."
-documentation = "http://docs.rs/rapier3d"
-homepage = "http://rapier.rs"
-repository = "https://github.com/dimforge/rapier"
-readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
-license = "Apache-2.0"
-edition = "2018"
-
-[badges]
-maintenance = { status = "actively-developed" }
-
-[features]
-default = [ "dim3", "f64", "default-sets" ]
-dim3    = [ ]
-f64     = [ ]
-default-sets = [ ]
-parallel = [ "rayon" ]
-simd-stable = [ "parry3d-f64/simd-stable", "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "parry3d-f64/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
-# Do not enable this feature directly. It is automatically
-# enabled with the "simd-stable" or "simd-nightly" feature.
-simd-is-enabled = [ "vec_map" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry3d-f64/serde-serialize", "serde", "bit-vec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry3d-f64/enhanced-determinism" ]
-
-# Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
-
-# Feature used for development and debugging only.
-# Do not enable this unless you are working on the engine internals.
-dev-remove-slow-accessors = []
-
-[lib]
-name = "rapier3d_f64"
-path = "../../src/lib.rs"
-required-features = [ "dim3", "f64" ]
-
-
-[dependencies]
-vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ]}
-num-traits = "0.2"
-nalgebra = "0.29"
-parry3d-f64 = "^0.7.1"
-simba = "0.6"
-approx = "0.5"
-rayon = { version = "1", optional = true }
-crossbeam = "0.8"
-arrayvec = "0.7"
-bit-vec = "0.6"
-rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
-downcast-rs = "1.2"
-num-derive = "0.3"
-bitflags = "1"
-
-[dev-dependencies]
-bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
diff --git a/build/rapier3d/Cargo.toml b/build/rapier3d/Cargo.toml
deleted file mode 100644
index 2830c07..0000000
--- a/build/rapier3d/Cargo.toml
+++ /dev/null
@@ -1,66 +0,0 @@
-[package]
-name    = "rapier3d"
-version = "0.11.1"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-description = "3-dimensional physics engine in Rust."
-documentation = "http://docs.rs/rapier3d"
-homepage = "http://rapier.rs"
-repository = "https://github.com/dimforge/rapier"
-readme = "README.md"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
-license = "Apache-2.0"
-edition = "2018"
-
-[badges]
-maintenance = { status = "actively-developed" }
-
-[features]
-default = [ "dim3", "f32", "default-sets" ]
-dim3    = [ ]
-f32     = [ ]
-default-sets = [ ]
-parallel = [ "rayon" ]
-simd-stable = [ "parry3d/simd-stable", "simba/wide", "simd-is-enabled" ]
-simd-nightly = [ "parry3d/simd-nightly", "simba/packed_simd", "simd-is-enabled" ]
-# Do not enable this feature directly. It is automatically
-# enabled with the "simd-stable" or "simd-nightly" feature.
-simd-is-enabled = [ "vec_map" ]
-wasm-bindgen = [ "instant/wasm-bindgen" ]
-serde-serialize = [ "nalgebra/serde-serialize", "parry3d/serde-serialize", "serde", "bit-vec/serde" ]
-enhanced-determinism = [ "simba/libm_force", "parry3d/enhanced-determinism" ]
-
-# Feature used for debugging only.
-debug-disable-legitimate-fe-exceptions = [ ]
-
-# Feature used for development and debugging only.
-# Do not enable this unless you are working on the engine internals.
-dev-remove-slow-accessors = []
-
-[lib]
-name = "rapier3d"
-path = "../../src/lib.rs"
-required-features = [ "dim3", "f32" ]
-
-
-[dependencies]
-vec_map = { version = "0.8", optional = true }
-instant = { version = "0.1", features = [ "now" ]}
-num-traits = "0.2"
-nalgebra = "0.29"
-parry3d = "^0.7.1"
-simba = "0.6"
-approx = "0.5"
-rayon = { version = "1", optional = true }
-crossbeam = "0.8"
-arrayvec = "0.7"
-bit-vec = "0.6"
-rustc-hash = "1"
-serde = { version = "1", features = [ "derive" ], optional = true }
-downcast-rs = "1.2"
-num-derive = "0.3"
-bitflags = "1"
-
-[dev-dependencies]
-bincode = "1"
-serde = { version = "1", features = [ "derive" ] }
diff --git a/build/rapier_testbed2d/Cargo.toml b/build/rapier_testbed2d/Cargo.toml
deleted file mode 100644
index 0ba4803..0000000
--- a/build/rapier_testbed2d/Cargo.toml
+++ /dev/null
@@ -1,58 +0,0 @@
-[package]
-name    = "rapier_testbed2d"
-version = "0.11.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-description = "Testbed for the Rapier 2-dimensional physics engine in Rust."
-homepage = "http://rapier.org"
-repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
-license = "Apache-2.0"
-edition = "2018"
-
-[badges]
-maintenance = { status = "actively-developed" }
-
-[lib]
-name = "rapier_testbed2d"
-path = "../../src_testbed/lib.rs"
-required-features = [ "dim2" ]
-
-[features]
-default = [ "dim2" ]
-dim2 = [ ]
-parallel = [ "rapier2d/parallel", "num_cpus" ]
-other-backends = [ "wrapped2d", "nphysics2d", "ncollide2d" ]
-
-
-[dependencies]
-nalgebra   = { version = "0.29", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-num_cpus   = { version = "1", optional = true }
-wrapped2d  = { version = "0.4", optional = true }
-parry2d = "0.7"
-ncollide2d = { version = "0.32", optional = true }
-nphysics2d = { version = "0.24", optional = true }
-crossbeam = "0.8"
-bincode = "1"
-Inflector  = "0.11"
-md5 = "0.7"
-
-bevy_egui = "0.5"
-
-# Dependencies for native only.
-[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.5", default-features = false, features = ["bevy_wgpu", "bevy_winit", "render", "x11"]}
-
-# Dependencies for WASM only.
-[target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.5", default-features = false, features = ["bevy_winit", "render"]}
-bevy_webgl2 = "0.5"
-
-[dependencies.rapier2d]
-path = "../rapier2d"
-version = "0.11"
-features = [ "serde-serialize" ]
diff --git a/build/rapier_testbed3d/Cargo.toml b/build/rapier_testbed3d/Cargo.toml
deleted file mode 100644
index 1ec0084..0000000
--- a/build/rapier_testbed3d/Cargo.toml
+++ /dev/null
@@ -1,60 +0,0 @@
-[package]
-name    = "rapier_testbed3d"
-version = "0.11.0"
-authors = [ "Sébastien Crozet <developer@crozet.re>" ]
-description = "Testbed for the Rapier 3-dimensional physics engine in Rust."
-homepage = "http://rapier.org"
-repository = "https://github.com/dimforge/rapier"
-categories = [ "science", "game-development", "mathematics", "simulation", "wasm"]
-keywords = [ "physics", "dynamics", "rigid", "real-time", "joints" ]
-license = "Apache-2.0"
-edition = "2018"
-
-[badges]
-maintenance = { status = "actively-developed" }
-
-[lib]
-name = "rapier_testbed3d"
-path = "../../src_testbed/lib.rs"
-required-features = [ "dim3" ]
-
-[features]
-default = [ "dim3" ]
-dim3 = [ ]
-parallel = [ "rapier3d/parallel", "num_cpus" ]
-other-backends = [ "physx", "physx-sys", "glam", "nphysics3d", "ncollide3d" ]
-
-[dependencies]
-nalgebra   = { version = "0.29", features = [ "rand" ] }
-rand       = "0.8"
-rand_pcg   = "0.3"
-instant    = { version = "0.1", features = [ "web-sys", "now" ]}
-bitflags   = "1"
-glam       = { version = "0.12", optional = true }
-num_cpus   = { version = "1", optional = true }
-parry3d    = "0.7"
-ncollide3d = { version = "0.32", optional = true }
-nphysics3d = { version = "0.24", optional = true }
-physx      = { version = "0.11", optional = true }
-physx-sys = { version = "0.4", optional = true }
-crossbeam = "0.8"
-bincode = "1"
-md5 = "0.7"
-Inflector  = "0.11"
-serde = { version = "1", features = [ "derive" ] }
-
-bevy_egui = "0.5"
-
-# Dependencies for native only.
-[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
-bevy = {version = "0.5", default-features = false, features = ["bevy_wgpu", "bevy_winit", "render", "x11"]}
-
-# Dependencies for WASM only.
-[target.'cfg(target_arch = "wasm32")'.dependencies]
-bevy = {version = "0.5", default-features = false, features = ["bevy_winit", "render"]}
-bevy_webgl2 = "0.5"
-
-[dependencies.rapier3d]
-path = "../rapier3d"
-version = "0.11"
-features = [ "serde-serialize" ]
\ No newline at end of file