Merge pull request #282 from dimforge/critical-damping

Improve the CFM implementation

2 files changed, 112 insertions, 0 deletions

diff --git a/crates/rapier_testbed2d-f64/Cargo.toml b/crates/rapier_testbed2d-f64/Cargo.toml
new file mode 100644
index 0000000..cfa0f42
--- /dev/null
+++ b/crates/rapier_testbed2d-f64/Cargo.toml
@@ -0,0 +1,57 @@
+[package]
+name    = "rapier_testbed2d-f64"
+version = "0.12.0-alpha.1"
+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 = [ "rapier/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 }
+crossbeam = "0.8"
+bincode = "1"
+Inflector  = "0.11"
+md5 = "0.7"
+
+bevy_egui = "0.10"
+bevy_ecs = "0.6"
+
+# Dependencies for native only.
+[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
+bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
+
+# Dependencies for WASM only.
+[target.'cfg(target_arch = "wasm32")'.dependencies]
+bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
+#bevy_webgl2 = "0.5"
+
+[dependencies.rapier]
+package = "rapier2d-f64"
+path = "../rapier2d-f64"
+version = "0.12.0-alpha.1"
+features = [ "serde-serialize" ]
diff --git a/crates/rapier_testbed3d-f64/Cargo.toml b/crates/rapier_testbed3d-f64/Cargo.toml
new file mode 100644
index 0000000..dfd0fbd
--- /dev/null
+++ b/crates/rapier_testbed3d-f64/Cargo.toml
@@ -0,0 +1,55 @@
+[package]
+name    = "rapier_testbed3d-f64"
+version = "0.12.0-alpha.1"
+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 = [ "rapier/parallel", "num_cpus" ]
+
+[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 }
+crossbeam = "0.8"
+bincode = "1"
+md5 = "0.7"
+Inflector  = "0.11"
+serde = { version = "1", features = [ "derive" ] }
+
+bevy_egui = "0.10"
+bevy_ecs = "0.6"
+
+# Dependencies for native only.
+[target.'cfg(not(target_arch = "wasm32"))'.dependencies]
+bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render", "x11"]}
+
+# Dependencies for WASM only.
+[target.'cfg(target_arch = "wasm32")'.dependencies]
+bevy = {version = "0.6", default-features = false, features = ["bevy_winit", "render"]}
+#bevy_webgl2 = "0.5"
+
+[dependencies.rapier]
+package = "rapier3d-f64"
+path = "../rapier3d-f64"
+version = "0.12.0-alpha.1"
+features = [ "serde-serialize" ]
\ No newline at end of file