diff options
Diffstat (limited to 'src/dynamics/solver/island_solver.rs')
| -rw-r--r-- | src/dynamics/solver/island_solver.rs | 22 |
1 files changed, 16 insertions, 6 deletions
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index deed8c2..d0866bf 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -35,7 +35,9 @@ impl IslandSolver { joints: &mut [JointGraphEdge], joint_indices: &[JointIndex], ) { - if manifold_indices.len() != 0 || joint_indices.len() != 0 { + let has_constraints = manifold_indices.len() != 0 || joint_indices.len() != 0; + + if has_constraints { counters.solver.velocity_assembly_time.resume(); self.contact_constraints .init(island_id, params, bodies, manifolds, manifold_indices); @@ -54,13 +56,13 @@ impl IslandSolver { &mut self.joint_constraints.velocity_constraints, ); counters.solver.velocity_resolution_time.pause(); - } - counters.solver.velocity_update_time.resume(); - bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt)); - counters.solver.velocity_update_time.pause(); + counters.solver.velocity_update_time.resume(); + bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| { + rb.integrate(params.dt) + }); + counters.solver.velocity_update_time.pause(); - if manifold_indices.len() != 0 || joint_indices.len() != 0 { counters.solver.position_resolution_time.resume(); self.position_solver.solve( island_id, @@ -70,6 +72,14 @@ impl IslandSolver { &self.joint_constraints.position_constraints, ); counters.solver.position_resolution_time.pause(); + } else { + 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 + rb.integrate_accelerations(params.dt); + rb.integrate(params.dt); + }); + counters.solver.velocity_update_time.pause(); } } } |