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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-01 12:12:45 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-01 12:12:45 +0100 |
| commit | 3805943067713ce881ec479bfce2b7af5d334414 (patch) | |
| tree | 1bba937bc9c69f0aac430ca02287ecba80b180d7 /src/geometry/contact_pair.rs | |
| parent | 6a7c0831ad53e6a0969e0969409eb82df1584849 (diff) | |
| download | rapier-3805943067713ce881ec479bfce2b7af5d334414.tar.gz rapier-3805943067713ce881ec479bfce2b7af5d334414.tar.bz2 rapier-3805943067713ce881ec479bfce2b7af5d334414.zip | |
Add a twist friction model and velocity-based error correction.
Diffstat (limited to 'src/geometry/contact_pair.rs')
| -rw-r--r-- | src/geometry/contact_pair.rs | 3 |
1 files changed, 3 insertions, 0 deletions
diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index f6c4989..4208971 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -100,6 +100,8 @@ pub struct ContactManifoldData { pub normal: Vector<Real>, /// The contacts that will be seen by the constraints solver for computing forces. pub solver_contacts: Vec<SolverContact>, + /// Twist impulse, if the twist friction model is select.d + pub twist_impulse: Real, } /// A contact seen by the constraints solver for computing forces. @@ -143,6 +145,7 @@ impl ContactManifoldData { solver_flags, normal: Vector::zeros(), solver_contacts: Vec::new(), + twist_impulse: 0.0, } } |