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2021-02-24Fix the parallel build.Crozet Sébastien
2021-02-24Implement dominance.Crozet Sébastien
2021-02-23Fix warnings in the WASM build.Crozet Sébastien
2021-02-23Properly take the tangent_velocity into account in the velocity solver.Crozet Sébastien
2021-02-22Use contact ids instead of contact reordering in order to identify the ↵Crozet Sébastien
impulse writeback location.
2021-02-22Merge pull request #119 from dimforge/joint_driveSébastien Crozet
Add joint motors
2021-02-22Fix warnings.Crozet Sébastien
2021-02-22Some minor cleanup and joint constraint refactoring.Crozet Sébastien
2021-02-22Make Simd prismatic joint limit code transmit torque.Crozet Sébastien
2021-02-22Make prismatic joint limit transmit torque.Crozet Sébastien
2021-02-22Add motors to prismatic joints.Crozet Sébastien
2021-02-22Take max motor impulse into account for the ball joint.Crozet Sébastien
2021-02-21Add motors to ball joints.Crozet Sébastien
2021-02-21Fix lever-arm handling in the revolute joint.Crozet Sébastien
2021-02-19Make revolute joint actuation work properly even when SIMD is enabled.Crozet Sébastien
2021-02-19Complete the implementation of non-simd joint motor for the revolute joint.Crozet Sébastien
2021-02-18Always apply the predictive contact term, even for bouncing contactsEmil Ernerfeldt
2021-02-18New contacts are bouncy, old are restingEmil Ernerfeldt
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.
2021-02-17Revolute joint constraints: properly adjust the angular impulse and torque ↵Crozet Sébastien
projection.
2021-02-15Properly writeback the generic constrainst impulse when it comes from a ↵Crozet Sébastien
revolute joint.
2021-02-15Generic velocity constraint: split the translation and rotation terms.Crozet Sébastien
2021-02-15Implement non-linear position stabilization for the generic constraint.Crozet Sébastien
2021-02-12Various generic joint fixes.Crozet Sébastien
2021-02-11More experiments with the way the generic joint is stabilized.Crozet Sébastien
2021-02-11Start experimenting with a generic joint implementation for joint drives.Crozet Sébastien
2021-02-08Apply accelerations during velocity solverEmil Ernerfeldt
Closes https://github.com/dimforge/rapier/issues/97 Instead of applying accelerations from gravity and external forces as a separate step, this PR switches to applying them in the velocity solver.
2021-02-04Make clippy a bit happierEmil Ernerfeldt
2021-01-24Rename cdl to parry.Crozet Sébastien
2021-01-23Fix WASM build.Crozet Sébastien
2021-01-23Fix warnings and 2D compilation when parallelism is ON but SIMD is OFF.Crozet Sébastien
2021-01-22Fix compilation in 2D.Crozet Sébastien
2021-01-22Merge branch 'master' into split_geomCrozet Sébastien
# Conflicts: # examples2d/sensor2.rs # examples3d/sensor3.rs # src/dynamics/integration_parameters.rs # src/dynamics/solver/parallel_island_solver.rs # src/dynamics/solver/velocity_constraint.rs # src/dynamics/solver/velocity_ground_constraint.rs # src_testbed/nphysics_backend.rs # src_testbed/physx_backend.rs # src_testbed/testbed.rs
2021-01-22IntegrationParameters: deprectate dt() and inv_dt() methodsEmil Ernerfeldt
2021-01-22Remove IntegrationParameters::inv_dt and make dt pubEmil Ernerfeldt
2021-01-21Rotation locking: apply filter only to the world inertia properties to fix ↵Crozet Sébastien
the multi-collider case.
2021-01-20Fix velocity constraints for ball joints involving bodies with non-uniform ↵Crozet Sébastien
angular inertia. Fix #86
2021-01-20Use newtypes for collider, rigid-body and joint handles.Crozet Sébastien
2021-01-20Switch to [u32; DIM] instead of Point<u32> for element indices.Crozet Sébastien
2021-01-06Fix 2D compilation.Crozet Sébastien
2021-01-04Refactor the parallel solver code the same way we did with the non-parallel ↵Crozet Sébastien
solver.
2021-01-04Add support of 64-bits reals.Crozet Sébastien
2020-12-31Perform contact sorting in the narrow-phase directly.Crozet Sébastien
2020-12-31Refactor the constraints solver code.Crozet Sébastien
2020-12-31Remove code related to point-point kinematics.Crozet Sébastien
2020-12-30Fix broken position constraint.Crozet Sébastien
2020-12-30Try using solver contacts again, but in a more cache-coherent way.Crozet Sébastien
2020-12-30Attempt to combine the position constraints initialization with the velocity ↵Crozet Sébastien
constraints initialization.
2020-12-29Remove some irrelevant code.Crozet Sébastien
2020-12-29Move all the contact manifold computations out of Rapier.Crozet Sébastien
2020-12-29Outsource the Shape trait, wquadtree, and shape types.Crozet Sébastien
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