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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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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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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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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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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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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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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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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31cd1c3f0b
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Formatted rbdlsim.cc
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2020-10-16 11:06:24 +02:00 |
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Martin Felis
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fff003ec24
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Implemented contact impulse calculation.
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2020-10-09 14:01:36 +02:00 |
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Martin Felis
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a881ad5ae2
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Added Collision Test Sphere vs Sphere, Collision returns for each body a separate contact point.
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2020-10-06 20:22:27 +02:00 |
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Martin Felis
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c02255d64c
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Added plane vs sphere penetration test.
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2020-10-05 21:47:25 +02:00 |
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Martin Felis
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7e7b08b919
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Basic but not yet working LCP time-stepping based collision response
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2020-10-04 17:28:02 +02:00 |
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Martin Felis
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5b6d7ec170
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Initial commit
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2020-10-03 22:55:14 +02:00 |