Always apply the predictive contact term, even for bouncing contacts

4 files changed, 22 insertions, 28 deletions

diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index dc7020f..2cac93d 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -239,11 +239,10 @@ impl VelocityConstraint {
                             + gcross1.gdot(gcross1)
                             + gcross2.gdot(gcross2));
 
-                    let rhs = if manifold_point.is_bouncy() {
-                        (1.0 + manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1)
-                    } else {
-                        (vel1 - vel2).dot(&force_dir1) + manifold_point.dist.max(0.0) * inv_dt
-                    };
+                    let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
+                    let rhs = (1.0 + is_bouncy * manifold_point.restitution)
+                        * (vel1 - vel2).dot(&force_dir1)
+                        + manifold_point.dist.max(0.0) * inv_dt;
 
                     let impulse = manifold_point.data.impulse * warmstart_coeff;
 
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs
index bd7fdcf..3e068e7 100644
--- a/src/dynamics/solver/velocity_constraint_wide.rs
+++ b/src/dynamics/solver/velocity_constraint_wide.rs
@@ -2,8 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
 use crate::dynamics::{IntegrationParameters, RigidBodySet};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::math::{
-    AngVector, AngularInertia, Point, Real, SimdBool, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
-    SIMD_WIDTH,
+    AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
 };
 use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
 use num::Zero;
@@ -124,11 +123,11 @@ impl WVelocityConstraint {
             for k in 0..num_points {
                 let friction =
                     SimdReal::from(array![|ii| manifold_points[ii][k].friction; SIMD_WIDTH]);
-                let restitution_plus_1 = SimdReal::from(
-                    array![|ii| manifold_points[ii][k].restitution + 1.0; SIMD_WIDTH],
+                let restitution =
+                    SimdReal::from(array![|ii| manifold_points[ii][k].restitution; SIMD_WIDTH]);
+                let is_bouncy = SimdReal::from(
+                    array![|ii| manifold_points[ii][k].is_bouncy() as u32 as Real; SIMD_WIDTH],
                 );
-                let is_bouncy =
-                    SimdBool::from(array![|ii| manifold_points[ii][k].is_bouncy(); SIMD_WIDTH]);
                 let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]);
                 let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
 
@@ -151,9 +150,8 @@ impl WVelocityConstraint {
                     let r = SimdReal::splat(1.0)
                         / (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2));
                     let projected_velocity = (vel1 - vel2).dot(&force_dir1);
-                    let rhs_resting = projected_velocity + dist.simd_max(SimdReal::zero()) * inv_dt;
-                    let rhs_bouncing = projected_velocity * restitution_plus_1;
-                    let rhs = rhs_bouncing.select(is_bouncy, rhs_resting);
+                    let rhs = (SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity
+                        + dist.simd_max(SimdReal::zero()) * inv_dt;
 
                     constraint.elements[k].normal_part = WVelocityConstraintElementPart {
                         gcross1,
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs
index f147ccb..88f864a 100644
--- a/src/dynamics/solver/velocity_ground_constraint.rs
+++ b/src/dynamics/solver/velocity_ground_constraint.rs
@@ -154,11 +154,10 @@ impl VelocityGroundConstraint {
 
                     let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2));
 
-                    let rhs = if manifold_point.is_bouncy() {
-                        (1.0 + manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1)
-                    } else {
-                        (vel1 - vel2).dot(&force_dir1) + manifold_point.dist.max(0.0) * inv_dt
-                    };
+                    let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
+                    let rhs = (1.0 + is_bouncy * manifold_point.restitution)
+                        * (vel1 - vel2).dot(&force_dir1)
+                        + manifold_point.dist.max(0.0) * inv_dt;
 
                     let impulse = manifold_point.data.impulse * warmstart_coeff;
 
diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs
index 4a58c69..29ba5e9 100644
--- a/src/dynamics/solver/velocity_ground_constraint_wide.rs
+++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs
@@ -2,8 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
 use crate::dynamics::{IntegrationParameters, RigidBodySet};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::math::{
-    AngVector, AngularInertia, Point, Real, SimdBool, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
-    SIMD_WIDTH,
+    AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
 };
 use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
 use num::Zero;
@@ -119,11 +118,11 @@ impl WVelocityGroundConstraint {
             for k in 0..num_points {
                 let friction =
                     SimdReal::from(array![|ii| manifold_points[ii][k].friction; SIMD_WIDTH]);
-                let restitution_plus_1 = SimdReal::from(
-                    array![|ii| manifold_points[ii][k].restitution + 1.0; SIMD_WIDTH],
+                let restitution =
+                    SimdReal::from(array![|ii| manifold_points[ii][k].restitution; SIMD_WIDTH]);
+                let is_bouncy = SimdReal::from(
+                    array![|ii| manifold_points[ii][k].is_bouncy() as u32 as Real; SIMD_WIDTH],
                 );
-                let is_bouncy =
-                    SimdBool::from(array![|ii| manifold_points[ii][k].is_bouncy(); SIMD_WIDTH]);
                 let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]);
                 let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
 
@@ -143,9 +142,8 @@ impl WVelocityGroundConstraint {
 
                     let r = SimdReal::splat(1.0) / (im2 + gcross2.gdot(gcross2));
                     let projected_velocity = (vel1 - vel2).dot(&force_dir1);
-                    let rhs_resting = projected_velocity + dist.simd_max(SimdReal::zero()) * inv_dt;
-                    let rhs_bouncing = projected_velocity * restitution_plus_1;
-                    let rhs = rhs_bouncing.select(is_bouncy, rhs_resting);
+                    let rhs = (SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity
+                        + dist.simd_max(SimdReal::zero()) * inv_dt;
 
                     constraint.elements[k].normal_part = WVelocityGroundConstraintElementPart {
                         gcross2,