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16 angular momentum and friction #48

Merged
merged 14 commits into from
Nov 8, 2023
Merged

16 angular momentum and friction #48

merged 14 commits into from
Nov 8, 2023

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mikhail-vlasenko
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@mikhail-vlasenko mikhail-vlasenko commented Oct 31, 2023 •
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This pull request introduces a series of updates aimed at improving the collision resolution logic within the system. Below is a summary of the key changes:

Added

  • Implementation of angular momentum from impact in collision resolution.
  • Implementation of angular momentum from friction in collision resolution.
  • Plenty of new tests for collision resolution.
  • Some new tests for collision detection.

Fixed

  • Added ContactInfo class; contact point is now expected by the _resolve_collision method within ContactInfo.
  • Fixed velocities_away checks.

Improved

  • ExtraInfo is returned by collision resolution at the third position. It is useful for test and potentially elsewhere
  • Introduced a much of complex, but not randomized tests to further validate the robustness of the collision resolution.
  • Added pytest-check as a dependency, allowing the visibility of multiple failing asserts during test runs.
  • Docstrings
  • Corrected spelling in HomogeneousTransformer

@mikhail-vlasenko
code for angular momentum in collision resolution. no tests
19b6775
@mikhail-vlasenko
include inertia in impulse computation. improve circle_collision test…
9cc51aa 
…. automatically call update_transform() for body when needed. add tests for epa direction.
@mikhail-vlasenko
fix unit vector direction for support. add collision resolution test …
a298246 
…for angular velocity that doesn't pass. add AnyBody. rename HomogeneousTransformer.
@mikhail-vlasenko mikhail-vlasenko mentioned this pull request Nov 6, 2023
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@mikhail-vlasenko mikhail-vlasenko mentioned this pull request Nov 6, 2023
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@mikhail-vlasenko
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im just gonna put the geogebra file here for the last test cause it takes time to imagine that one
bullet_test.zip zip cause .ggb isnt supported

mikhail-vlasenko
mikhail-vlasenko commented Nov 6, 2023
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closes #16

cotix/_collision_resolution.py Show resolved Hide resolved
cotix/_collision_resolution.py Show resolved Hide resolved
@mikhail-vlasenko mikhail-vlasenko marked this pull request as ready for review November 6, 2023 12:06
@mikhail-vlasenko mikhail-vlasenko changed the title 16 angular momentum 16 angular momentum and friction Nov 6, 2023
knyazer
knyazer approved these changes Nov 8, 2023
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LGTM

@knyazer knyazer merged commit 64ee85c into main Nov 8, 2023
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@knyazer knyazer deleted the 16-angular-momentum branch November 8, 2023 19:34
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@knyazer knyazer knyazer approved these changes

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@mikhail-vlasenko @knyazer