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| author | Sébastien Crozet <sebcrozet@dimforge.com> | 2024-04-21 23:42:21 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2024-04-30 23:10:46 +0200 |
| commit | 6635d49c8bdaca13011a888d3901436eb79c599e (patch) | |
| tree | ce6d3ded0025c9107544275b109f0570c0d54daa /src/geometry/broad_phase_multi_sap | |
| parent | 33dd38016ccf3c4ad8e874d75e51fbc20dd060da (diff) | |
| download | rapier-6635d49c8bdaca13011a888d3901436eb79c599e.tar.gz rapier-6635d49c8bdaca13011a888d3901436eb79c599e.tar.bz2 rapier-6635d49c8bdaca13011a888d3901436eb79c599e.zip | |
feat: add configurable distance cap to soft-ccd
Diffstat (limited to 'src/geometry/broad_phase_multi_sap')
| -rw-r--r-- | src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs index bc09b57..fb5d407 100644 --- a/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs +++ b/src/geometry/broad_phase_multi_sap/broad_phase_multi_sap.rs @@ -597,8 +597,11 @@ impl BroadPhase for BroadPhaseMultiSap { let next_pos = co.parent.and_then(|p| { let parent = bodies.get(p.handle)?; - parent.is_soft_ccd_enabled().then(|| { - parent.predict_position_using_velocity_and_forces(dt) * p.pos_wrt_parent + (parent.soft_ccd_prediction() > 0.0).then(|| { + parent.predict_position_using_velocity_and_forces_with_max_dist( + dt, + parent.soft_ccd_prediction(), + ) * p.pos_wrt_parent }) }); |