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2021-04-01Fix parallel build.Crozet Sébastien
2021-04-01Some small performance improvements.Crozet Sébastien
2021-03-31Fix more warnings.Crozet Sébastien
2021-03-31Fix the parallel solver to work properly with CCD.Crozet Sébastien
2021-03-30Run the position solver after the CCD motion clamping.Crozet Sébastien
2021-03-30CCD: take angular motion and penetration depth into account in various ↵Crozet Sébastien
thresholds.
2021-03-28Attenuate the warmstart impulse for CCD contacts.Crozet Sébastien
CCD contacts result in very strong, instantaneous, impulses. So it is preferable to attenuate their contribution to subsequent timesteps to avoid overshooting.
2021-03-26First working version of non-linear CCD based on single-substep motion-clamping.Crozet Sébastien
2021-03-08Fix regression in the WASM version of the velocity solver.Crozet Sébastien
2021-03-07Fix regression causing invalid contacts to be solved.Crozet Sébastien
2021-03-07Reduce code duplication between the SIMD and non-SIMD contact solve and ↵Crozet Sébastien
warmstart.
2021-03-07Fix warning when targetting wasm.Crozet Sébastien
2021-03-07Projection friction impulses on an implicit cone instead of a pyramidal ↵Crozet Sébastien
approximation.
2021-02-26fix the body-body revolute angle velocity erpEmil Ernerfeldt
2021-02-26Final cleanupEmil Ernerfeldt
2021-02-26simplify prismatic limitsEmil Ernerfeldt
2021-02-26Fix primatic wideEmil Ernerfeldt
2021-02-26fix the revolute wideEmil Ernerfeldt
2021-02-26fix narrow revolute velocityEmil Ernerfeldt
2021-02-26Fix the narrow pismatic velocity constraintEmil Ernerfeldt
2021-02-26fixEmil Ernerfeldt
2021-02-26Implement ground wideEmil Ernerfeldt
2021-02-26Implement revolute wideEmil Ernerfeldt
2021-02-26Implement prismatic wideEmil Ernerfeldt
2021-02-26Implement fixed wideEmil Ernerfeldt
2021-02-26Implement revolute narrowEmil Ernerfeldt
2021-02-26Implemented prismatic narrow. Needs testing and close reviewEmil Ernerfeldt
2021-02-26cleanupEmil Ernerfeldt
2021-02-26Implement ball wideEmil Ernerfeldt
2021-02-26Add params.velocity_based_erp_inv_dt() helperEmil Ernerfeldt
2021-02-26Add restorative impulse in velocity solverEmil Ernerfeldt
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.
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