diff options
Diffstat (limited to 'src/geometry/contact_pair.rs')
| -rw-r--r-- | src/geometry/contact_pair.rs | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index ee3a6ac..f5d0f64 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -1,9 +1,8 @@ use crate::dynamics::{RigidBodyHandle, RigidBodySet}; use crate::geometry::{ColliderHandle, ColliderSet, Contact, ContactManifold}; -use crate::math::{Point, Real, TangentImpulse, Vector, ANG_DIM}; +use crate::math::{Point, Real, TangentImpulse, Vector}; use crate::pipeline::EventHandler; use crate::prelude::CollisionEventFlags; -use parry::math::AngVector; use parry::query::ContactManifoldsWorkspace; use super::CollisionEvent; @@ -304,7 +303,9 @@ pub struct SolverContact { pub tangent_velocity: Vector<Real>, /// Whether or not this contact existed during the last timestep. pub is_new: bool, + /// Impulse used to warmstart the solve for the normal constraint. pub warmstart_impulse: Real, + /// Impulse used to warmstart the solve for the friction constraints. pub warmstart_tangent_impulse: TangentImpulse<Real>, } |