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| author | Sébastien Crozet <sebcrozet@dimforge.com> | 2024-04-21 18:55:11 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2024-04-30 23:10:46 +0200 |
| commit | f58b4f7c195ab7acf0778ea65c46ebf37ac8188c (patch) | |
| tree | 16a5009b1decbf0395b93657b5c992b277bff8f9 /src/geometry/narrow_phase.rs | |
| parent | da79d6fb5b28dd12e17ef4c8985fb589a37c9f9c (diff) | |
| download | rapier-f58b4f7c195ab7acf0778ea65c46ebf37ac8188c.tar.gz rapier-f58b4f7c195ab7acf0778ea65c46ebf37ac8188c.tar.bz2 rapier-f58b4f7c195ab7acf0778ea65c46ebf37ac8188c.zip | |
feat: add warmstarting to contact constraints resolution
Diffstat (limited to 'src/geometry/narrow_phase.rs')
| -rw-r--r-- | src/geometry/narrow_phase.rs | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index f754808..a711117 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -987,6 +987,8 @@ impl NarrowPhase { restitution, tangent_velocity: Vector::zeros(), is_new: contact.data.impulse == 0.0, + warmstart_impulse: contact.data.warmstart_impulse, + warmstart_tangent_impulse: contact.data.warmstart_tangent_impulse, }; manifold.data.solver_contacts.push(solver_contact); |