Martin Felis
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87f07397d2
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Working on edge-edge contact manifold generation. Possibly found issue for face-face contact generation.
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2021-08-25 22:29:18 +02:00 |
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Martin Felis
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0e378b6a60
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Added face-face contact manifold computation to sconvcol.
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2021-08-25 21:20:03 +02:00 |
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Martin Felis
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f06da4445f
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Reverted to using boxes and spheres for the scene
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2021-08-06 12:16:34 +02:00 |
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Martin Felis
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ab469b40c8
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Added Tracy profiler
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2021-08-06 12:11:47 +02:00 |
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Martin Felis
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40734883d8
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Adjusted simulation scene generation (boxes and spheres)
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2021-07-09 20:28:45 +02:00 |
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Martin Felis
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4834b483ef
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Added sch_hull_sat to check whether we can find a separating axes between two hulls.
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2021-05-30 00:19:57 +02:00 |
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Martin Felis
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e93a659daf
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Added unit cube generation and get_support queries.
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2021-05-28 21:43:37 +02:00 |
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Martin Felis
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0c53f3fd8b
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Minor cleanup.
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2021-05-28 17:01:36 +02:00 |
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Martin Felis
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8aa06fb3d6
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Hull builder can now build hulls including various validations.
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2021-05-28 16:45:41 +02:00 |
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Martin Felis
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d8a67db2a9
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Check vor concave vertices when building convex hull objects
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2021-05-27 14:18:21 +02:00 |
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Martin Felis
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82de09ad8b
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Updated catch2
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2021-05-27 14:17:30 +02:00 |
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Martin Felis
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9356ec14f8
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Initial work on a convex hull builder object.
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2021-05-26 11:33:54 +02:00 |
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Martin Felis
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0081cff8bc
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Added slides of Gregorius' talk "Robust Contact Creation for Physics Simulation"
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2021-05-16 15:37:13 +02:00 |
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Martin Felis
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6193af5387
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Merge branch 'master' of ssh://i13s.de/martin/rbdlsim
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2021-02-07 14:45:34 +01:00 |
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Martin Felis
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0dd26d267d
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Added README.md
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2020-12-20 15:57:09 +01:00 |
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Martin Felis
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d2eca6f19b
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Added initial works on sconvcol - Simple Convex Collision manifold calculator
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2020-12-12 23:22:57 +01:00 |
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Martin Felis
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5f4675d9ef
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Fixed build for runsim
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2020-11-25 17:05:29 +01:00 |
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Martin Felis
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10b59578e1
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Properly separate sliders for each body
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2020-11-25 17:05:13 +01:00 |
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Martin Felis
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d01417e8c9
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Implemented tangential friction. Yay!
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2020-11-24 22:34:28 +01:00 |
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Martin Felis
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ca4f4048df
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Adjusted scene (more objects, mixed boxes and spheres)
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2020-11-24 22:30:59 +01:00 |
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Martin Felis
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28d7e5efaa
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Adjusted view for better visibility
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2020-11-24 22:30:29 +01:00 |
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Martin Felis
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b00e78cd9c
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Storing MInv * jacT instead of each separately, fixed failing due to size of spheres being now the diameter instead of radius.
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2020-11-24 21:45:38 +01:00 |
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Martin Felis
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3fd715611d
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Added applying slight separation impulse in case of penetration, also started working on friction along tangents.
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2020-11-21 21:18:57 +01:00 |
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Martin Felis
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ae9ec36325
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Fixed creation of state history class.
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2020-11-21 21:17:52 +01:00 |
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Martin Felis
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cb387beb33
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Using manifold points instead of posA, posB for adding constraints.
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2020-11-21 20:09:26 +01:00 |
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Martin Felis
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4b19fd9c0b
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Fixed simulation crash by increasing the manifold array as I'm getting more manifolds than expected.
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2020-11-20 23:16:37 +01:00 |
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Martin Felis
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8dd349752d
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Apply random rotation on test bodies when resetting scene.
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2020-11-20 22:54:59 +01:00 |
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Martin Felis
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17a8a0347f
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SimpleMath: fixed matrix.llt().inverse() (was using unused variable).
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2020-11-20 22:54:07 +01:00 |
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Martin Felis
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17336be8d6
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Using boxes instead of spheres for simulation.
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2020-11-20 22:53:30 +01:00 |
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Martin Felis
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e47be90fac
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Sending full transform info (rot, scale, translation) to srender.
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2020-11-20 22:51:24 +01:00 |
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Martin Felis
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0624a7e1ac
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Properly allowing for rotated box vs plane checking.
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2020-11-20 21:47:17 +01:00 |
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Martin Felis
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cd57d8aa7e
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Inital works of Box vs Plan collision.
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2020-11-20 14:17:15 +01:00 |
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Martin Felis
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159400b722
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Removed debug output in tests.
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2020-11-20 10:48:56 +01:00 |
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Martin Felis
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67cc892f14
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Collision resolution works. Finally!
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2020-11-15 22:23:32 +01:00 |
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Martin Felis
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3377de6b81
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Explicitly formulating bias term (missed some changes)
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2020-11-15 21:47:25 +01:00 |
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Martin Felis
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4a8d691334
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Explicitly formulating bias term.
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2020-11-15 21:46:43 +01:00 |
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Martin Felis
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4389dd19fc
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Working on unilateral contact constraints.
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2020-11-13 21:54:08 +01:00 |
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Martin Felis
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ff4490887f
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Initial drafts for rendering points.
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2020-11-13 21:53:28 +01:00 |
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Martin Felis
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48b72c7e15
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Implemented state history buffer and scrubbing.
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2020-11-13 13:26:52 +01:00 |
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Martin Felis
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7efa3e6dda
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Trying to get collisions in simulation right.
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2020-11-13 01:30:46 +01:00 |
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Martin Felis
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a9d1aebf44
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Properly compute impulse for simple cases (sphere on plane, sphere vs sphere).
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2020-11-13 01:23:13 +01:00 |
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Martin Felis
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5037eda185
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Checking constraint jacobian and normal directions.
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2020-11-08 20:51:45 +01:00 |
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Martin Felis
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3fac49ed9e
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Added restitution to CreateSphereBody, debugging impulse computation.
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2020-11-08 12:50:12 +01:00 |
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Martin Felis
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60ec46d090
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Fixed build of tests
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2020-11-08 12:49:43 +01:00 |
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Martin Felis
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8ef9a923d8
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Sort of working bouncing simulation.
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2020-11-05 23:12:05 +01:00 |
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Martin Felis
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d1fa076581
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Basic Simulator with editing of scene.
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2020-11-02 21:07:26 +01:00 |
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Martin Felis
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a4c25644ca
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Using proper y rotation when building uvsphere triangles
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2020-11-01 21:37:23 +01:00 |
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Martin Felis
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cd1130afd3
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Fixed uv sphere generation.
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2020-10-31 22:40:51 +01:00 |
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Martin Felis
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1ef48039b5
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Added super simple lighting to shaders.
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2020-10-31 22:37:26 +01:00 |
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Martin Felis
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6dd7d27777
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Sphere visible but still buggy...
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2020-10-29 18:03:50 +01:00 |