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| author | Sébastien Crozet <developer@crozet.re> | 2022-01-02 14:47:40 +0100 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-01-02 16:58:36 +0100 |
| commit | f74b8401ad9ef50b8cdbf1f43a2b21f6c42b0ebc (patch) | |
| tree | 53ac492fea5942a7d466f58a0095f39505674ea4 /src/geometry/narrow_phase.rs | |
| parent | b45d4b5ac2b31856c15e802b31e288a58940cbf2 (diff) | |
| download | rapier-f74b8401ad9ef50b8cdbf1f43a2b21f6c42b0ebc.tar.gz rapier-f74b8401ad9ef50b8cdbf1f43a2b21f6c42b0ebc.tar.bz2 rapier-f74b8401ad9ef50b8cdbf1f43a2b21f6c42b0ebc.zip | |
Implement multibody joints and the new solver
Diffstat (limited to 'src/geometry/narrow_phase.rs')
| -rw-r--r-- | src/geometry/narrow_phase.rs | 6 |
1 files changed, 2 insertions, 4 deletions
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 82ee99d..643b584 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -968,9 +968,7 @@ impl NarrowPhase { friction, restitution, tangent_velocity: Vector::zeros(), - warmstart_impulse: contact.data.impulse, - warmstart_tangent_impulse: contact.data.tangent_impulse, - prev_rhs: contact.data.rhs, + is_new: contact.data.impulse == 0.0, }; manifold.data.solver_contacts.push(solver_contact); @@ -1027,7 +1025,7 @@ impl NarrowPhase { } /// Retrieve all the interactions with at least one contact point, happening between two active bodies. - // NOTE: this is very similar to the code from JointSet::select_active_interactions. + // NOTE: this is very similar to the code from ImpulseJointSet::select_active_interactions. pub(crate) fn select_active_contacts<'a, Bodies>( &'a mut self, islands: &IslandManager, |