Merge branch 'master' into collider-builder-debug

1 files changed, 23 insertions, 21 deletions

diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs
index 44730a0..c57f98a 100644
--- a/src/geometry/contact_pair.rs
+++ b/src/geometry/contact_pair.rs
@@ -1,6 +1,6 @@
 use crate::dynamics::{RigidBodyHandle, RigidBodySet};
 use crate::geometry::{ColliderHandle, ColliderSet, Contact, ContactManifold};
-use crate::math::{Point, Real, Vector};
+use crate::math::{Point, Real, TangentImpulse, Vector};
 use crate::pipeline::EventHandler;
 use crate::prelude::CollisionEventFlags;
 use parry::query::ContactManifoldsWorkspace;
@@ -33,12 +33,11 @@ pub struct ContactData {
     pub impulse: Real,
     /// The friction impulse along the vector orthonormal to the contact normal, applied to the first
     /// collider's rigid-body.
-    #[cfg(feature = "dim2")]
-    pub tangent_impulse: Real,
-    /// The friction impulses along the basis orthonormal to the contact normal, applied to the first
-    /// collider's rigid-body.
-    #[cfg(feature = "dim3")]
-    pub tangent_impulse: na::Vector2<Real>,
+    pub tangent_impulse: TangentImpulse<Real>,
+    /// The impulse retained for warmstarting the next simulation step.
+    pub warmstart_impulse: Real,
+    /// The friction impulse retained for warmstarting the next simulation step.
+    pub warmstart_tangent_impulse: TangentImpulse<Real>,
 }
 
 impl Default for ContactData {
@@ -46,6 +45,8 @@ impl Default for ContactData {
         Self {
             impulse: 0.0,
             tangent_impulse: na::zero(),
+            warmstart_impulse: 0.0,
+            warmstart_tangent_impulse: na::zero(),
         }
     }
 }
@@ -57,14 +58,14 @@ pub struct IntersectionPair {
     /// Are the colliders intersecting?
     pub intersecting: bool,
     /// Was a `CollisionEvent::Started` emitted for this collider?
-    pub(crate) start_event_emited: bool,
+    pub(crate) start_event_emitted: bool,
 }
 
 impl IntersectionPair {
     pub(crate) fn new() -> Self {
         Self {
             intersecting: false,
-            start_event_emited: false,
+            start_event_emitted: false,
         }
     }
 
@@ -76,7 +77,7 @@ impl IntersectionPair {
         collider2: ColliderHandle,
         events: &dyn EventHandler,
     ) {
-        self.start_event_emited = true;
+        self.start_event_emitted = true;
         events.handle_collision_event(
             bodies,
             colliders,
@@ -93,7 +94,7 @@ impl IntersectionPair {
         collider2: ColliderHandle,
         events: &dyn EventHandler,
     ) {
-        self.start_event_emited = false;
+        self.start_event_emitted = false;
         events.handle_collision_event(
             bodies,
             colliders,
@@ -114,11 +115,14 @@ pub struct ContactPair {
     /// The set of contact manifolds between the two colliders.
     ///
     /// All contact manifold contain themselves contact points between the colliders.
+    /// Note that contact points in the contact manifold do not take into account the
+    /// [`Collider::contact_skin`] which only affects the constraint solver and the
+    /// [`SolverContact`].
     pub manifolds: Vec<ContactManifold>,
     /// Is there any active contact in this contact pair?
     pub has_any_active_contact: bool,
     /// Was a `CollisionEvent::Started` emitted for this collider?
-    pub(crate) start_event_emited: bool,
+    pub(crate) start_event_emitted: bool,
     pub(crate) workspace: Option<ContactManifoldsWorkspace>,
 }
 
@@ -129,7 +133,7 @@ impl ContactPair {
             collider2,
             has_any_active_contact: false,
             manifolds: Vec::new(),
-            start_event_emited: false,
+            start_event_emitted: false,
             workspace: None,
         }
     }
@@ -206,7 +210,7 @@ impl ContactPair {
         colliders: &ColliderSet,
         events: &dyn EventHandler,
     ) {
-        self.start_event_emited = true;
+        self.start_event_emitted = true;
 
         events.handle_collision_event(
             bodies,
@@ -222,7 +226,7 @@ impl ContactPair {
         colliders: &ColliderSet,
         events: &dyn EventHandler,
     ) {
-        self.start_event_emited = false;
+        self.start_event_emitted = false;
 
         events.handle_collision_event(
             bodies,
@@ -299,6 +303,10 @@ pub struct SolverContact {
     pub tangent_velocity: Vector<Real>,
     /// Whether or not this contact existed during the last timestep.
     pub is_new: bool,
+    /// Impulse used to warmstart the solve for the normal constraint.
+    pub warmstart_impulse: Real,
+    /// Impulse used to warmstart the solve for the friction constraints.
+    pub warmstart_tangent_impulse: TangentImpulse<Real>,
 }
 
 impl SolverContact {
@@ -351,16 +359,10 @@ impl ContactManifoldData {
 pub trait ContactManifoldExt {
     /// Computes the sum of all the impulses applied by contacts from this contact manifold.
     fn total_impulse(&self) -> Real;
-    /// Computes the maximum impulse applied by contacts from this contact manifold.
-    fn max_impulse(&self) -> Real;
 }
 
 impl ContactManifoldExt for ContactManifold {
     fn total_impulse(&self) -> Real {
         self.points.iter().map(|pt| pt.data.impulse).sum()
     }
-
-    fn max_impulse(&self) -> Real {
-        self.points.iter().fold(0.0, |a, pt| a.max(pt.data.impulse))
-    }
 }