diff options
Diffstat (limited to 'src/dynamics/solver/island_solver.rs')
| -rw-r--r-- | src/dynamics/solver/island_solver.rs | 32 |
1 files changed, 21 insertions, 11 deletions
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index 6ebf402..c117457 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -24,7 +24,25 @@ impl IslandSolver { } } - pub fn solve_island( + pub fn solve_position_constraints( + &mut self, + island_id: usize, + counters: &mut Counters, + params: &IntegrationParameters, + bodies: &mut RigidBodySet, + ) { + counters.solver.position_resolution_time.resume(); + self.position_solver.solve( + island_id, + params, + bodies, + &self.contact_constraints.position_constraints, + &self.joint_constraints.position_constraints, + ); + counters.solver.position_resolution_time.pause(); + } + + pub fn init_constraints_and_solve_velocity_constraints( &mut self, island_id: usize, counters: &mut Counters, @@ -62,17 +80,9 @@ impl IslandSolver { rb.integrate_next_position(params.dt, true) }); counters.solver.velocity_update_time.pause(); - - counters.solver.position_resolution_time.resume(); - self.position_solver.solve( - island_id, - params, - bodies, - &self.contact_constraints.position_constraints, - &self.joint_constraints.position_constraints, - ); - counters.solver.position_resolution_time.pause(); } else { + self.contact_constraints.clear(); + self.joint_constraints.clear(); counters.solver.velocity_update_time.resume(); bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| { // Since we didn't run the velocity solver we need to integrate the accelerations here |