Code

General stability improvements#625

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sebcrozet merged 25 commits intomasterdimforge/rapier:masterfrom stability-improvementsdimforge/rapier:stability-improvementsCopy head branch name to clipboardApr 30, 2024

+3,019-643

Commits

Commits on Apr 7, 2024

• feat: add some additional perf counters

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• feat: add Collider::heightfield_with_flags

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• fix contact debug-rendering for compound shapes

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• feat: make narrow-phase filter-out predictive solver contact based on contact velocity

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Commits on Apr 14, 2024

• feat: add exact mlcp solver for pais of 2 constraints

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• feat: add soft (solver-based) ccd implementation

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• feat: add variable constraints stabilization iteration number

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• feat: add a few more debug demos

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• chore: update cargo.toml

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• chore: rework vertical stacks demo

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• feat: add "compression" debug-example

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Commits on Apr 21, 2024

• feat: add warmstarting to contact constraints resolution

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• feat: add a capsule collider constructor from endpoints.

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• feat: add configurable distance cap to soft-ccd

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Commits on Apr 24, 2024

• feat: add IntegrationParameters::length_unit to adjust internal threshold based on user-defined length units

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Commits on Apr 27, 2024

• feat: implement collision skin

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Commits on Apr 28, 2024

• chore: clenaup testbed profiling ui

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• feat: add dynamic trimesh example

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• feat: more interesting dynamic mesh demo

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• fix: include the 0.5 factor in pseudo (mass-normalized) kinetic energy calculation

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• fix: add a collision skin to the 2D trimesh demo

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• feat: rename collision_skin to contact_skin

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• chore: clippy fixes

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• fix: remove local cargo patches

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• fix compilation of tests

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