diff options
| 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/solver/mod.rs | |
| 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/solver/mod.rs')
| -rw-r--r-- | src/dynamics/solver/mod.rs | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/dynamics/solver/mod.rs b/src/dynamics/solver/mod.rs index 7607c28..3ffa94c 100644 --- a/src/dynamics/solver/mod.rs +++ b/src/dynamics/solver/mod.rs @@ -13,6 +13,7 @@ pub(self) use self::velocity_solver::VelocitySolver; pub(self) use delta_vel::DeltaVel; pub(self) use generic_velocity_constraint::*; pub(self) use generic_velocity_constraint_element::*; +pub(self) use generic_velocity_ground_constraint::*; pub(self) use interaction_groups::*; pub(crate) use joint_constraint::MotorParameters; pub use joint_constraint::*; @@ -29,6 +30,8 @@ mod categorization; mod delta_vel; mod generic_velocity_constraint; mod generic_velocity_constraint_element; +mod generic_velocity_ground_constraint; +mod generic_velocity_ground_constraint_element; mod interaction_groups; #[cfg(not(feature = "parallel"))] mod island_solver; |