diff options
Diffstat (limited to 'src/dynamics/ccd')
| -rw-r--r-- | src/dynamics/ccd/toi_entry.rs | 16 |
1 files changed, 5 insertions, 11 deletions
diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs index 6679a91..3916a4b 100644 --- a/src/dynamics/ccd/toi_entry.rs +++ b/src/dynamics/ccd/toi_entry.rs @@ -1,4 +1,4 @@ -use crate::dynamics::{IntegrationParameters, RigidBody, RigidBodyHandle}; +use crate::dynamics::{RigidBody, RigidBodyHandle}; use crate::geometry::{Collider, ColliderHandle}; use crate::math::Real; use parry::query::{NonlinearRigidMotion, QueryDispatcher}; @@ -36,7 +36,6 @@ impl TOIEntry { } pub fn try_from_colliders<QD: ?Sized + QueryDispatcher>( - params: &IntegrationParameters, query_dispatcher: &QD, ch1: ColliderHandle, ch2: ColliderHandle, @@ -56,16 +55,11 @@ impl TOIEntry { let vel12 = linvel2 - linvel1; let thickness = c1.shape().ccd_thickness() + c2.shape().ccd_thickness(); - - if params.dt * vel12.norm() < thickness { - return None; - } - let is_intersection_test = c1.is_sensor() || c2.is_sensor(); // Compute the TOI. - let mut motion1 = Self::body_motion(params.dt, b1); - let mut motion2 = Self::body_motion(params.dt, b2); + let mut motion1 = Self::body_motion(b1); + let mut motion2 = Self::body_motion(b2); if let Some(t) = frozen1 { motion1.freeze(t); @@ -114,8 +108,8 @@ impl TOIEntry { )) } - fn body_motion(dt: Real, body: &RigidBody) -> NonlinearRigidMotion { - if body.should_resolve_ccd(dt) { + fn body_motion(body: &RigidBody) -> NonlinearRigidMotion { + if body.is_ccd_active() { NonlinearRigidMotion::new( 0.0, body.position, |