diff options
Diffstat (limited to 'src/dynamics')
| -rw-r--r-- | src/dynamics/solver/island_solver.rs | 8 |
1 files changed, 6 insertions, 2 deletions
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index 2953f98..159bfa7 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -41,7 +41,7 @@ impl IslandSolver { joint_indices: &[JointIndex], multibodies: &mut MultibodyJointSet, ) { - counters.solver.velocity_resolution_time.resume(); + counters.solver.velocity_assembly_time.resume(); let num_solver_iterations = base_params.num_solver_iterations.get() + islands.active_island_additional_solver_iterations(island_id); @@ -76,8 +76,10 @@ impl IslandSolver { &mut self.contact_constraints, &mut self.joint_constraints, ); + counters.solver.velocity_assembly_time.pause(); // SOLVE + counters.solver.velocity_resolution_time.resume(); self.velocity_solver.solve_constraints( ¶ms, num_solver_iterations, @@ -86,8 +88,10 @@ impl IslandSolver { &mut self.contact_constraints, &mut self.joint_constraints, ); + counters.solver.velocity_resolution_time.pause(); // WRITEBACK + counters.solver.velocity_writeback_time.resume(); self.joint_constraints.writeback_impulses(impulse_joints); self.contact_constraints.writeback_impulses(manifolds); self.velocity_solver.writeback_bodies( @@ -98,6 +102,6 @@ impl IslandSolver { bodies, multibodies, ); - counters.solver.velocity_resolution_time.pause(); + counters.solver.velocity_writeback_time.pause(); } } |