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| author | Crozet Sébastien <developer@crozet.re> | 2021-03-30 17:11:52 +0200 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-03-30 17:11:52 +0200 |
| commit | 88933bd4317c6ae522a4af906919dffd2becc6f9 (patch) | |
| tree | ed429f19fa858680b262d85cb5fd0d1b13d87791 /src/dynamics/solver/position_solver.rs | |
| parent | d2ee6420538d7ee524f2096995d4f44fcfef4551 (diff) | |
| download | rapier-88933bd4317c6ae522a4af906919dffd2becc6f9.tar.gz rapier-88933bd4317c6ae522a4af906919dffd2becc6f9.tar.bz2 rapier-88933bd4317c6ae522a4af906919dffd2becc6f9.zip | |
Run the position solver after the CCD motion clamping.
Diffstat (limited to 'src/dynamics/solver/position_solver.rs')
| -rw-r--r-- | src/dynamics/solver/position_solver.rs | 5 |
1 files changed, 5 insertions, 0 deletions
diff --git a/src/dynamics/solver/position_solver.rs b/src/dynamics/solver/position_solver.rs index ea92c59..2fa4aee 100644 --- a/src/dynamics/solver/position_solver.rs +++ b/src/dynamics/solver/position_solver.rs @@ -21,6 +21,11 @@ impl PositionSolver { contact_constraints: &[AnyPositionConstraint], joint_constraints: &[AnyJointPositionConstraint], ) { + if contact_constraints.is_empty() && joint_constraints.is_empty() { + // Nothing to do. + return; + } + self.positions.clear(); self.positions.extend( bodies |