Phase 1 / Forge / Sequential Impulses contact solver#60

Merged

guysenpai merged 23 commits into

mainfrom

phase-1/forge/solver-sequential-impulses

Jul 24, 2026

Commits on Jul 24, 2026

docs(forge): add M1.1.6 brief
guysenpai
committed
feat(forge): store body friction and restitution (M1.1.6)
guysenpai
committed
feat(forge): split integration into velocity/position passes (M1.1.6)
guysenpai
committed
docs(forge): tick specs and log E1 (M1.1.6)
guysenpai
committed
docs(forge): fix french token in E1 log (M1.1.6)
guysenpai
committed
feat(forge): re-export ShapeStore from BodyManager (M1.1.6)
guysenpai
committed
feat(forge): add rigid contact constraint setup (M1.1.6)
guysenpai
committed
docs(forge): log E2 (M1.1.6)
guysenpai
committed
feat(forge): add warm-start cache and warm start (M1.1.6)
guysenpai
committed
docs(forge): log E3 (M1.1.6)
guysenpai
committed
feat(forge): add velocity iterations with restitution (M1.1.6)
guysenpai
committed
docs(forge): log E4 (M1.1.6)
guysenpai
committed
fix(forge): restrict restitution bias to approaching contacts (M1.1.6)
guysenpai
committed
docs(forge): record restitution condition deviation (M1.1.6)
guysenpai
committed
feat(forge): add friction with circular clamp (M1.1.6)
guysenpai
committed
docs(forge): log E5 (M1.1.6)
guysenpai
committed
feat(forge): add solver harness and acceptance suite (M1.1.6)
guysenpai
committed
docs(forge): log E6 harness and acceptance suite (M1.1.6)
guysenpai
committed
fix(forge): make combineFriction finite across the domain (M1.1.6)
guysenpai
committed
fix(forge): guard solver restitution threshold (M1.1.6)
guysenpai
committed
fix(forge): retain contact pairs across separation in harness (M1.1.6)
guysenpai
committed
docs(forge): record E6 pre-merge fixes and deviation (M1.1.6)
guysenpai
committed
docs(forge): close M1.1.6 and patch CLAUDE.md state (M1.1.6)
guysenpai
committed

Provide feedback

Saved searches

Use saved searches to filter your results more quickly

Uh oh!

Phase 1 / Forge / Sequential Impulses contact solver#60

Phase 1 / Forge / Sequential Impulses contact solver#60
guysenpai merged 23 commits into
mainfrom
phase-1/forge/solver-sequential-impulses

Commits on Jul 24, 2026

docs(forge): add M1.1.6 brief

feat(forge): store body friction and restitution (M1.1.6)

feat(forge): split integration into velocity/position passes (M1.1.6)

docs(forge): tick specs and log E1 (M1.1.6)

docs(forge): fix french token in E1 log (M1.1.6)

feat(forge): re-export ShapeStore from BodyManager (M1.1.6)

feat(forge): add rigid contact constraint setup (M1.1.6)

docs(forge): log E2 (M1.1.6)

feat(forge): add warm-start cache and warm start (M1.1.6)

docs(forge): log E3 (M1.1.6)

feat(forge): add velocity iterations with restitution (M1.1.6)

docs(forge): log E4 (M1.1.6)

fix(forge): restrict restitution bias to approaching contacts (M1.1.6)

docs(forge): record restitution condition deviation (M1.1.6)

feat(forge): add friction with circular clamp (M1.1.6)

docs(forge): log E5 (M1.1.6)

feat(forge): add solver harness and acceptance suite (M1.1.6)

docs(forge): log E6 harness and acceptance suite (M1.1.6)

fix(forge): make combineFriction finite across the domain (M1.1.6)

fix(forge): guard solver restitution threshold (M1.1.6)

fix(forge): retain contact pairs across separation in harness (M1.1.6)

docs(forge): record E6 pre-merge fixes and deviation (M1.1.6)

docs(forge): close M1.1.6 and patch CLAUDE.md state (M1.1.6)