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2024-06-09chore: add more commentsSébastien Crozet
2024-05-25feat: rename cfm_factor, damping_ratio to contact_cfm_factor and ↵Sébastien Crozet
contact_damping_ratio
2024-05-25feat: remove the "fast constraint" special caseSébastien Crozet
2024-05-25feat: make the constraints regularization coefficients configurable with ↵Sébastien Crozet
angular frequency instead of explicit ERP
2024-05-25feat: add simple inverse-kinematics solver for multibodies (#632)Sébastien Crozet
* feat: add a simple jacobian-based inverse-kinematics implementation for multibodies * feat: add 2d inverse kinematics example * feat: make forward_kinematics auto-fix the root’s degrees of freedom * feat: add 3d inverse kinematics example * chore: update changelog * chore: clippy fixes * chore: more clippy fixes * fix tests
2024-05-05Fix joint limits not being flipped in one body constrains. (#549)Fun Maker
2024-05-05Fix some typos. (#620)Bruce Mitchener
2024-04-30chore: clippy fixesSébastien Crozet
2024-04-30feat: add IntegrationParameters::length_unit to adjust internal threshold ↵Sébastien Crozet
based on user-defined length units
2024-04-30feat: add warmstarting to contact constraints resolutionSébastien Crozet
2024-04-30feat: add variable constraints stabilization iteration numberSébastien Crozet
2024-04-30feat: add exact mlcp solver for pais of 2 constraintsSébastien Crozet
2024-04-30feat: add some additional perf countersSébastien Crozet
2024-03-23Fix reported contact impulse in the contact force eventSébastien Crozet
Address https://github.com/dimforge/rapier.js/issues/261
2024-03-23fix: implement linear-coupled-motor constraint between two dynamic bodiesSébastien Crozet
Fix #602
2024-01-27Fix clippy and enable clippy on CISébastien Crozet
2024-01-24feat: rework solver parameters to make it easy to recover the old behaviorsSébastien Crozet
2024-01-22chore: CI fixesSébastien Crozet
2024-01-21feat: implement new "small-steps" solver + joint improvementsSébastien Crozet
2023-12-10fix: also apply joint limits in case of equalitySébastien Crozet
2023-12-10fix more 2D angular motor/limits jacobiansSébastien Crozet
2023-12-10fix: avoid perpetual movement when the target ang motor position is overshotSébastien Crozet
2023-12-10Fixed formatting of modified files.pellico
2023-12-10Fix #378 Added one example join_motor_positionpellico
2023-12-01Fix check for motor constraints on angular DoFDzmitry Malyshau
2023-01-15Update dependenciesSébastien Crozet
2022-12-11Fix wasm buildSébastien Crozet
2022-05-30Fix parallel buildSébastien Crozet
2022-05-30Fix wasm buildSébastien Crozet
2022-05-30Move the cfm factor to the velocity constraints instead of the elements.Sébastien Crozet
2022-05-30CCD improvementsSébastien Crozet
- Fix bug where the CCD thickness wasn’t initialized properly. - Fix bug where the contact compliance would result in unwanted tunelling, despite CCD being enabled.
2022-04-20Warning fix.Sébastien Crozet
2022-04-20Finalize refactoringSébastien Crozet
2022-04-20First round deleting the component sets.Sébastien Crozet
2022-04-20Fix mass-properties update after collider changeSébastien Crozet
2022-03-20Cargo fmtSébastien Crozet
2022-03-20Rename rigid-body `static` to `fixed`Sébastien Crozet
2022-03-20Fix warnings and add comments.Sébastien Crozet
2022-03-20Add 2-axes coupling for angular joint limitsSébastien Crozet
2022-03-20Add a max penetration correction integration parameterSébastien Crozet
2022-03-20Rebase on master branchSébastien Crozet
2022-03-20Complete the parallel solver fixSébastien Crozet
2022-03-20Second round to fix the parallel solver.Sébastien Crozet
2022-03-20Start fixing the parallel version.Sébastien Crozet
2022-03-20Joint API and joint motors improvementsSébastien Crozet
2022-03-20Minor island solver simplificationSébastien Crozet
2022-02-21Use WReal instead of SimdRealField everywhereSébastien Crozet
2022-01-28Fix the application of damping to bodies part of an active islandSébastien Crozet
2022-01-23Run cargo fmtSébastien Crozet
2022-01-23add defaults for the several structszhguchev
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