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

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This commit is contained in:
Sébastien Crozet
2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
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8
src/geometry/narrow_phase.rs
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@@ -927,6 +927,7 @@ impl NarrowPhase {
for manifold in &mut pair.manifolds {
let world_pos1 = manifold.subshape_pos1.prepend_to(&co1.pos);
let world_pos2 = manifold.subshape_pos2.prepend_to(&co2.pos);
manifold.data.solver_contacts.clear();
manifold.data.rigid_body1 = co1.parent.map(|p| p.handle);
manifold.data.rigid_body2 = co2.parent.map(|p| p.handle);
@@ -944,10 +945,13 @@ impl NarrowPhase {
if contact.dist < prediction_distance {
// Generate the solver contact.
let world_pt1 = world_pos1 * contact.local_p1;
let world_pt2 = world_pos2 * contact.local_p2;
let effective_point = na::center(&world_pt1, &world_pt2);
let solver_contact = SolverContact {
contact_id: contact_id as u8,
point: world_pos1 * contact.local_p1
+ manifold.data.normal * contact.dist / 2.0,
point: effective_point,
dist: contact.dist,
friction,
restitution,