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

2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
--- a/src/geometry/collider_set.rs
+++ b/src/geometry/collider_set.rs
@@ -108,8 +108,8 @@ impl ColliderSet {
        let parent = bodies
            .get_mut(parent_handle)
            .expect("Parent rigid body not found.");
+        coll.prev_position = parent.position * coll.delta;
        coll.position = parent.position * coll.delta;
-        coll.predicted_position = parent.predicted_position * coll.delta;
        let handle = ColliderHandle(self.colliders.insert(coll));
        let coll = self.colliders.get(handle.0).unwrap();
        parent.add_collider(handle, &coll);