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Merge branch 'master' into split_geom

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# Conflicts:
#	examples2d/sensor2.rs
#	examples3d/sensor3.rs
#	src/dynamics/integration_parameters.rs
#	src/dynamics/solver/parallel_island_solver.rs
#	src/dynamics/solver/velocity_constraint.rs
#	src/dynamics/solver/velocity_ground_constraint.rs
#	src_testbed/nphysics_backend.rs
#	src_testbed/physx_backend.rs
#	src_testbed/testbed.rs
This commit is contained in:
Crozet Sébastien
2021-01-22 16:10:24 +01:00
parent 800b35b103 e6fc8f67fa
commit cf52e01308
24 changed files with 359 additions and 356 deletions
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3
src/dynamics/solver/island_solver.rs
View File

@@ -57,8 +57,7 @@ impl IslandSolver {
}
counters.solver.velocity_update_time.resume();
bodies
.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt()));
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt));
counters.solver.velocity_update_time.pause();
if manifold_indices.len() != 0 || joint_indices.len() != 0 {

2
src/dynamics/solver/parallel_island_solver.rs
View File

@@ -251,7 +251,7 @@ impl ParallelIslandSolver {
let dvel = mj_lambdas[rb.active_set_offset];
rb.linvel += dvel.linear;
rb.angvel += rb.effective_world_inv_inertia_sqrt.transform_vector(dvel.angular);
rb.integrate(params.dt());
rb.integrate(params.dt));
positions[rb.active_set_offset] = rb.position;
}
}

3
src/dynamics/solver/velocity_constraint.rs
View File

@@ -144,6 +144,7 @@ impl VelocityConstraint {
out_constraints: &mut Vec<AnyVelocityConstraint>,
push: bool,
) {
let inv_dt = params.inv_dt();
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
let mj_lambda1 = rb1.active_set_offset;
@@ -244,7 +245,7 @@ impl VelocityConstraint {
rhs += manifold_point.restitution * rhs
}
rhs += manifold_point.dist.max(0.0) * params.inv_dt();
rhs += manifold_point.dist.max(0.0) * inv_dt;
let impulse = manifold_point.data.impulse * warmstart_coeff;

3
src/dynamics/solver/velocity_ground_constraint.rs
View File

@@ -63,6 +63,7 @@ impl VelocityGroundConstraint {
out_constraints: &mut Vec<AnyVelocityConstraint>,
push: bool,
) {
let inv_dt = params.inv_dt();
let mut rb1 = &bodies[manifold.data.body_pair.body1];
let mut rb2 = &bodies[manifold.data.body_pair.body2];
let flipped = !rb2.is_dynamic();
@@ -159,7 +160,7 @@ impl VelocityGroundConstraint {
rhs += manifold_point.restitution * rhs
}
rhs += manifold_point.dist.max(0.0) * params.inv_dt();
rhs += manifold_point.dist.max(0.0) * inv_dt;
let impulse = manifold_points[k].data.impulse * warmstart_coeff;