feat: implement new "small-steps" solver + joint improvements

2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
--- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
+++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs
@@ -214,7 +214,7 @@ impl ImpulseJointSet {
    //     //     .map(|e| &mut e.weight)
    // }

-    #[cfg(not(feature = "parallel"))]
+    // #[cfg(not(feature = "parallel"))]
    pub(crate) fn joints_mut(&mut self) -> &mut [JointGraphEdge] {
        &mut self.joint_graph.graph.edges[..]
    }