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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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7
src_testbed/physx_backend.rs
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@@ -209,10 +209,9 @@ impl PhysxWorld {
actor.set_linear_velocity(&linvel, true);
actor.set_angular_velocity(&angvel, true);
actor.set_solver_iteration_counts(
// Use our number of velocity iterations as their number of position iterations.
integration_parameters.max_velocity_iterations.max(1) as u32,
// Use our number of velocity stabilization iterations as their number of velocity iterations.
integration_parameters.max_stabilization_iterations.max(1) as u32,
// Use our number of solver iterations as their number of position iterations.
integration_parameters.num_solver_iterations.get() as u32,
1,
);
rapier2dynamic.insert(rapier_handle, actor);