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| author | Crozet Sébastien <developer@crozet.re> | 2021-03-28 11:26:53 +0200 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-03-28 11:27:07 +0200 |
| commit | 7306821c460ca3f77e697c89a79393e61c126624 (patch) | |
| tree | c8aa2a4d7d2c381706ee7edb60245bfd7bac7a07 /src/geometry/narrow_phase.rs | |
| parent | 710dd8d71ed53d2f52f15cdd19ee2f1248b62a96 (diff) | |
| download | rapier-7306821c460ca3f77e697c89a79393e61c126624.tar.gz rapier-7306821c460ca3f77e697c89a79393e61c126624.tar.bz2 rapier-7306821c460ca3f77e697c89a79393e61c126624.zip | |
Attenuate the warmstart impulse for CCD contacts.
CCD contacts result in very strong, instantaneous, impulses. So it is preferable to attenuate their contribution to subsequent timesteps to avoid overshooting.
Diffstat (limited to 'src/geometry/narrow_phase.rs')
| -rw-r--r-- | src/geometry/narrow_phase.rs | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 92cf57d..372d056 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -584,7 +584,9 @@ impl NarrowPhase { friction, restitution, tangent_velocity: Vector::zeros(), - data: contact.data, + warmstart_impulse: contact.data.impulse, + warmstart_tangent_impulse: contact.data.tangent_impulse, + prev_rhs: contact.data.rhs, }; manifold.data.solver_contacts.push(solver_contact); |