Always apply the predictive contact term, even for bouncing contacts

src/dynamics/solver/velocity_constraint.rs

@@ -239,11 +239,10 @@ impl VelocityConstraint {
                             + gcross1.gdot(gcross1)
                             + gcross2.gdot(gcross2));
 
-                    let rhs = if manifold_point.is_bouncy() {
-                        (1.0 + manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1)
-                    } else {
-                        (vel1 - vel2).dot(&force_dir1) + manifold_point.dist.max(0.0) * inv_dt
-                    };
+                    let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
+                    let rhs = (1.0 + is_bouncy * manifold_point.restitution)
+                        * (vel1 - vel2).dot(&force_dir1)
+                        + manifold_point.dist.max(0.0) * inv_dt;
 
                     let impulse = manifold_point.data.impulse * warmstart_coeff;