Merge pull request #114 from EmbarkStudios/split-contacts-2

Split bouncy and resting contacts (take 2)

1 files changed, 4 insertions, 7 deletions

diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index 514434b..2cac93d 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -239,13 +239,10 @@ impl VelocityConstraint {
                             + gcross1.gdot(gcross1)
                             + gcross2.gdot(gcross2));
 
-                    let mut rhs = (vel1 - vel2).dot(&force_dir1);
-
-                    if rhs <= -params.restitution_velocity_threshold {
-                        rhs += manifold_point.restitution * rhs
-                    }
-
-                    rhs += 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;