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| author | Sébastien Crozet <developer@crozet.re> | 2022-01-16 16:40:59 +0100 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-01-16 16:52:40 +0100 |
| commit | 0703e5527fd95d86bb6621e61dbcb1a6e7f9329a (patch) | |
| tree | 806e7d950015875ebfcca5520784aea6e7c5ae10 /src/dynamics/joint/impulse_joint | |
| parent | 4454a845e98b990abf3929ca46b59d0fca5a18ec (diff) | |
| download | rapier-0703e5527fd95d86bb6621e61dbcb1a6e7f9329a.tar.gz rapier-0703e5527fd95d86bb6621e61dbcb1a6e7f9329a.tar.bz2 rapier-0703e5527fd95d86bb6621e61dbcb1a6e7f9329a.zip | |
Fix some solver issues
- Fix the wrong codepath taken by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
Diffstat (limited to 'src/dynamics/joint/impulse_joint')
| -rw-r--r-- | src/dynamics/joint/impulse_joint/impulse_joint_set.rs | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs index 183b668..890f021 100644 --- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs +++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs @@ -100,7 +100,7 @@ impl ImpulseJointSet { /// Gets the joint with the given handle without a known generation. /// - /// This is useful when you know you want the joint at position `i` but + /// This is useful when you know you want the joint at index `i` but /// don't know what is its current generation number. Generation numbers are /// used to protect from the ABA problem because the joint position `i` /// are recycled between two insertion and a removal. |