diff options
Diffstat (limited to 'src/dynamics/solver')
| -rw-r--r-- | src/dynamics/solver/velocity_solver.rs | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index b0bafb8..9d5c279 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -251,8 +251,9 @@ impl VelocitySolver { .rows(multibody.solver_id, multibody.ndofs()); multibody.velocities.copy_from(&solver_vels); multibody.integrate(params.dt); - // PERF: we could have a mode where it doesn’t write back to the `bodies` yet. - multibody.forward_kinematics(bodies, !is_last_substep); + // PERF: don’t write back to the rigid-body poses `bodies` before the last step? + multibody.forward_kinematics(bodies, false); + multibody.update_rigid_bodies_internal(bodies, !is_last_substep, true, false); if !is_last_substep { // These are very expensive and not needed if we don’t |