Merge pull request #267 from dimforge/multibody

Implement multibody joints, and new velocity-based constraints solver

6 files changed, 380 insertions, 0 deletions

diff --git a/crates/rapier2d-f64/Cargo.toml b/crates/rapier2d-f64/Cargo.toml
new file mode 100644
index 0000000..525e620
--- /dev/null
+++ b/crates/rapier2d-f64/Cargo.toml
@@ -0,0 +1,67 @@
+[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", "impulse_joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[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 = "0.30"
+parry2d-f64 = "0.8"
+simba = "0.7"
+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/crates/rapier2d/Cargo.toml b/crates/rapier2d/Cargo.toml
new file mode 100644
index 0000000..64985d6
--- /dev/null
+++ b/crates/rapier2d/Cargo.toml
@@ -0,0 +1,67 @@
+[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", "impulse_joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[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 = "0.30"
+parry2d = "0.8"
+simba = "0.7"
+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/crates/rapier3d-f64/Cargo.toml b/crates/rapier3d-f64/Cargo.toml
new file mode 100644
index 0000000..77cf8d4
--- /dev/null
+++ b/crates/rapier3d-f64/Cargo.toml
@@ -0,0 +1,66 @@
+[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", "impulse_joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[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 = "0.30"
+parry3d-f64 = "0.8"
+simba = "0.7"
+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/crates/rapier3d/Cargo.toml b/crates/rapier3d/Cargo.toml
new file mode 100644
index 0000000..75ca2ba
--- /dev/null
+++ b/crates/rapier3d/Cargo.toml
@@ -0,0 +1,66 @@
+[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", "impulse_joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[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 = "0.30"
+parry3d = "0.8"
+simba = "0.7"
+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/crates/rapier_testbed2d/Cargo.toml b/crates/rapier_testbed2d/Cargo.toml
new file mode 100644
index 0000000..ea5db88
--- /dev/null
+++ b/crates/rapier_testbed2d/Cargo.toml
@@ -0,0 +1,56 @@
+[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", "impulse_joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[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" ]
+
+
+[dependencies]
+nalgebra   = { version = "0.30", 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 = "0.8"
+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/crates/rapier_testbed3d/Cargo.toml b/crates/rapier_testbed3d/Cargo.toml
new file mode 100644
index 0000000..8a8a1e4
--- /dev/null
+++ b/crates/rapier_testbed3d/Cargo.toml
@@ -0,0 +1,58 @@
+[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", "impulse_joints" ]
+license = "Apache-2.0"
+edition = "2021"
+
+[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" ]
+
+[dependencies]
+nalgebra   = { version = "0.30", 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    = "0.8"
+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