nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

First working version of non-linear CCD based on single-substep motion-clamping.

Browse Source
This commit is contained in:
Crozet Sébastien
2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/dynamics/solver/island_solver.rs
View File

@@ -59,7 +59,7 @@ impl IslandSolver {
counters.solver.velocity_update_time.resume();
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
rb.integrate(params.dt)
rb.integrate_next_position(params.dt, true)
});
counters.solver.velocity_update_time.pause();
@@ -77,7 +77,7 @@ impl IslandSolver {
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
// Since we didn't run the velocity solver we need to integrate the accelerations here
rb.integrate_accelerations(params.dt);
rb.integrate(params.dt);
rb.integrate_next_position(params.dt, true);
});
counters.solver.velocity_update_time.pause();
}