perf: switch back to caching the 3D constraint jacobians + fix sleep issues - #975

Merged

sebcrozet merged 12 commits into

Aug 7, 2026

Commits on Aug 6, 2026

perf: switch back to caching the 3D constraint jacobians
sebcrozet
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3a283fb
fix python tests
sebcrozet
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49148d9
feat: switch to a mostly position-based sleeping strategy
sebcrozet
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f9925dd
feat: add a different outline color for sleep-eligible but still awake bodies with the debug-renderer
sebcrozet
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a8ea48d
feat: use lexicographic manifold point ordering for the block-solver too
sebcrozet
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b009f2f
chore: remove the tiny gaps from the vertical_stack2 demo
sebcrozet
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750e768
feat: fallback to the sequential solver when the block-solver’s constraint matrix is almost-singular
sebcrozet
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e4f40fe
feat(testbed): use a fixed small color palette for coloring dynamic bodies
sebcrozet
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8e84cbb
chore: bump parry to 0.30.1
sebcrozet
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13a6654
chore: make the b3d_large_pyramid larger
sebcrozet
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e506013
chore: update changelog
sebcrozet
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2ec608f

Commits on Aug 7, 2026

chore: CI fixes
sebcrozet
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800ef1a