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Fix regression in CCD resolution.

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This commit is contained in:
Crozet Sébastien
2021-04-27 16:43:24 +02:00
parent 3cab54b880
commit 83cb981a88
3 changed files with 11 additions and 9 deletions
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6
src/pipeline/query_pipeline.rs
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@@ -248,8 +248,8 @@ impl QueryPipeline {
&RigidBodyForces,
&RigidBodyMassProps,
) = self.bodies.index_bundle(co_parent.handle.0);
let predicted_pos =
rb_pos.integrate_force_and_velocity(dt, forces, vels, mprops);
let predicted_pos = rb_pos
.integrate_forces_and_velocities(dt, forces, vels, mprops);
let next_position = predicted_pos * co_parent.pos_wrt_parent;
f(
@@ -331,7 +331,7 @@ impl QueryPipeline {
) = bodies.index_bundle(co_parent.handle.0);
let predicted_pos =
rb_pos.integrate_force_and_velocity(dt, forces, vels, mprops);
rb_pos.integrate_forces_and_velocities(dt, forces, vels, mprops);
let next_position = predicted_pos * co_parent.pos_wrt_parent;
co_shape.compute_swept_aabb(&co_pos, &next_position)