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| author | Crozet Sébastien <developer@crozet.re> | 2021-03-07 17:34:49 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-03-07 17:34:54 +0100 |
| commit | 152ada67ecd122fe38a9cae8b262542b4abf25fc (patch) | |
| tree | 22a8e6863cce5daab7782c5de108749e5d046fbb /src/dynamics/solver/velocity_ground_constraint.rs | |
| parent | 0e4393ba9e408952395cfccaef6dc192886e2839 (diff) | |
| download | rapier-152ada67ecd122fe38a9cae8b262542b4abf25fc.tar.gz rapier-152ada67ecd122fe38a9cae8b262542b4abf25fc.tar.bz2 rapier-152ada67ecd122fe38a9cae8b262542b4abf25fc.zip | |
Fix regression causing invalid contacts to be solved.
Diffstat (limited to 'src/dynamics/solver/velocity_ground_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 3509dd5..cabce5e 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -196,7 +196,7 @@ impl VelocityGroundConstraint { let mut mj_lambda2 = DeltaVel::zero(); VelocityGroundConstraintElement::warmstart_group( - &self.elements, + &self.elements[..self.num_contacts as usize], &self.dir1, #[cfg(feature = "dim3")] &self.tangent1, @@ -212,7 +212,7 @@ impl VelocityGroundConstraint { let mut mj_lambda2 = mj_lambdas[self.mj_lambda2 as usize]; VelocityGroundConstraintElement::solve_group( - &mut self.elements, + &mut self.elements[..self.num_contacts as usize], &self.dir1, #[cfg(feature = "dim3")] &self.tangent1, |