This is a special edition; if the community needs it, they can add specific features themselves. - #1000
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baka4n wants to merge 45 commits into
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This is a special edition; if the community needs it, they can add specific features themselves.#1000baka4n wants to merge 45 commits into
baka4n wants to merge 45 commits into
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…C moving platform, dimforge#223 convex_decomposition panic, dimforge#984 CCD bullet-bullet tunnel + dimforge#305 EPA regression
…idBody/RigidBodyBuilder caps + post-solve clamp + regression tests
…ition()/angles() + set_motor_force/torque (ForceBased) + regression tests
…witness (point+normal) captured in sweep, stored on RigidBodyCcd, exposed via RigidBody::ccd_point_of_impact() + regression test
…only) + serde + dead-code allow §9 contact friction/reaction bridge: post-solve, single-threaded, gated by IntegrationParameters::bridge_contact_forces (default off => HEAD physics unchanged). Solver-emergent Friction/ContactReaction kinds excluded from summation (no double-apply). §15.1 compute_effective_force_and_torque marked #[allow(dead_code)] (legacy API kept). §15.2 serde derives on Persistence/ForceKind/ForceEntry/KindContainer + RigidBody field serde(default). Validated by force_containers_serde_round_trip. Tests: 72 lib tests pass (-D warnings); 2 new bridge tests + 1 serde round-trip.
dimforge#223 dimforge#778 dimforge#548 dimforge#457 dimforge#181) Bug fixes adopted into this fork: dimforge#488 character controller moving-platform penetration (drop correction cap for kinematic parents) dimforge#984 CCD fast dynamic-dynamic tunneling (bullet-vs-bullet + moving-target sweep) dimforge#993 voxel-ball solver-graph slot leak (force FULL_COMPOSITE on manifold count drop) dimforge#223 convex_decomposition panic on degenerate input dimforge#778 cylinder_x/z + round variants dimforge#548 ccd_point_of_impact dimforge#457 joint angles()/set_motor_force dimforge#181 max linear/angular velocity clamps Plus persistent/transient force containers, clippy cfg fixes, and voxel_ball_tests regression.
…/axpy vs nalgebra) Phase 1 of Full-B nalgebra->glam migration. Standalone dynamic linear-algebra layer (src/linalg.rs) reproducing nalgebra's exact arithmetic order so existing simulations / enhanced-determinism saves stay reproducible. DVector + views + dot/component_mul/axpy/copy_from/norm/normalize/insert_rows/amax implemented and proven bit-identical to na::DVector via comparison tests (3 passed, clippy clean).
…path + gemv small path) + transpose Phase 2 of Full-B nalgebra->glam migration. DMatrix (column-major, identical layout to nalgebra VecStorage) with gemm replicating nalgebra's exact dual dispatch: - large dynamic matrices -> matrixmultiply::dgemm (same column-major strides) - small/static -> per-column gemv/axcpy loop transpose also bit-identical. 2 new bit-comparison tests (gemm both paths + transpose); all 5 linalg tests pass, clippy clean on src/linalg.rs. matrixmultiply added as direct dep.
…lumn/view Index-IndexMut/generic LU::solve_mut/Add-AddAssign absent) + MatrixLike for SVector
…(bit-identical) + 3 测试; 修 linalg 漏 fmt
…+ step 后推进软体 + 粗粒度 sleeping(岛屿式) + 查询/插入/睡眠 API
…ound_body + spring_damping_forces() + SoftBodySet::write_spring_forces (Custom(Persistent)); PhysicsWorld::step 先写软体力再积分刚体; 含路由单测
…DistanceConstraint + 四面体体积约束 + 固定顺序 Gauss-Seidel 投影 + 确定性; configure_xpbd/add_distance_constraint/add_tetrahedron; 4 XPBD 单测; lib 97 passed
…ion<SoftBody>> id-stable tombstone + count()/remove(id)；SoftBody::remove_particle 拓扑修复：删粒子+连锁删弹簧/距离约束/四面体、剩余索引递减；8 软体测试仍全过）
…过自积分（位置由 proxy 驱动）
…dd_triangle(自动注册去重结构边) + add_bending_constraint(弯曲对角线) + remove_particle 拓扑 remap
…ly_wind/clear_wind; compute_forces 与 step_xpbd predict 双求解器施力(纯外力)
…detach_particle + SoftBodySet::follow_rigid_bodies (绑定质点刚性跟随刚体平移/旋转); physics_world 接线
… (应变超阈值移除 distance constraint/spring, 并删破损三角面); step 顶部调用
…_strain,creep} + set_plasticity + apply_plasticity (超屈服应变每步把 rest_length 朝当前长度冻入 creep); step 顶部调用
…sure + pressure_forces (面法向 centroid 朝外, F=P·area/3/顶点, 闭合壳吹胀); compute_forces + step_xpbd 预测步接线
… + set_self_collision/clear_self_collision + solve_self_collisions (均匀空间哈希 broad-phase + 排除结构邻居 + XPBD 距离约束推开, 2*radius); MassSpring/XPBD 两路径注入
….compliance/dt^2); 新增 set_spring_stiffness / set_distance_constraint_compliance 运行时改刚度
…<SelfCollisionParams> + set/clear; SoftBodySet 加 iter + get2_mut(切片拆分保证双可变借用); solve_cross_body_collisions(world 层遍历软体对,空间哈希 + XPBD 投影); world.rs step 后调用
… set/clear; step_xpbd 四面体体积约束改用独立柔度(c/dt^2),与距离求解器解耦(可软边硬体积)
…adius,stiffness,break_distance} + set/clear; solve_cohesion(世界层空间哈希,捕获半径=2*radius,吸引到接触距离radius,可破断); 撕裂(Phase9)对偶
…pbd 速度回推后 / integrate(MassSpring) 对各自由质点 v *= (1-damping); 全局内部阻尼,jelly/slime 手感,与弹簧轴向阻尼(Phase0)/柔度(Phase13)正交
…; add/clear setter; step_xpbd 每迭代按应变符号选 stretch(α_s)/compression(α_c) 柔度; 布料抗拉伸但易折叠
…t_self/cross_collision_friction setter; solve_self_collisions 累积接触对 + step_xpbd 速度回推后 Coulomb 切向阻尼; solve_cross_body_collisions 跨体切向相对速度阻尼(min μ)
…阈值的四面体(非有限=全细分); 子体积=父/4 体积守恒; 重心质点由子四面体体积约束驱动(不加刚性边避免过约束爆炸); 返回实际细分个数
… 将 frame dt 切成 n 等份各跑一次求解器(loop 在 step 层, 不动 step_xpbd/step_mass_spring 内部); 新增 set_substeps(n) 守卫 n>=1 拒绝 0
- TearCriterion 枚举(Strain/Stress/Energy)替代单一应变阈值: 应力=|k*(len-rest)| 超限断; 能量=0.5*k*(len-rest)^2 超限断(Griffith 断裂韧性代理) - SoftBody.tear 按准则标量评估; set_tear_stress/set_tear_energy 新增 - anisotropy: Option<Vector> 体级正交各向异性刚度轴; step_xpbd 边有效柔度=base/(n·diag·n), 沿主轴更硬 - 移除 tear() 冗余 strain 计算; clippy 干净
- ViscoelasticParams(rate_coefficient) + ThermalParams(temp/ambient/expansion/stiffness_temp_coeff) - spring_damping_forces: 率相关硬化 k_eff=k*(1+rate*|d(strain)/dt|); 热膨胀 rest*(1+exp*ΔT) + 温度软化 k*(1-coeff*ΔT) - set_viscoelastic/set_thermal 守卫(rate>=0, coeff*|ΔT|<1) - dT 重命名为 delta_t 过 clippy
…implicit_euler(dt): 组装质量矩阵 M 与弹簧刚度矩阵 K, 解 (M/dt^2 - K) v = M v_n/dt^2 + f_n/dt (nalgebra DMatrix, Cholesky/LU 回退) - 无条件稳定: 高刚度弹簧下显式发散而隐式有界 - 纯参考求解器(O(n^3) 稠密), 生产大网格仍用 XPBD
baka4n
marked this pull request as draft
August 27, 2026 19:03
…g (polar rotation + deviatoric XPBD projection), tetra_rest_shapes cache + set/clear_corotated
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Just add a signature for me.