diff options
Diffstat (limited to 'src/pipeline/physics_pipeline.rs')
| -rw-r--r-- | src/pipeline/physics_pipeline.rs | 29 |
1 files changed, 25 insertions, 4 deletions
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs index 0ac734a..85c1b26 100644 --- a/src/pipeline/physics_pipeline.rs +++ b/src/pipeline/physics_pipeline.rs @@ -135,9 +135,6 @@ impl PhysicsPipeline { events, ); } - println!("A time: {}", instant::now() - t0); - let t0 = instant::now(); - println!("Num BF events: {}", self.broad_phase_events.len()); narrow_phase.register_pairs( Some(islands), colliders, @@ -145,7 +142,6 @@ impl PhysicsPipeline { &self.broad_phase_events, events, ); - println!("B time: {}", instant::now() - t0); narrow_phase.compute_contacts( integration_parameters.prediction_distance, @@ -263,6 +259,31 @@ impl PhysicsPipeline { &mut manifolds, &mut self.manifold_indices, ); + + let error: Real = manifolds + .iter() + .flat_map(|m| m.data.solver_contacts.iter()) + .map(|ctct| ctct.dist) + .filter(|e| *e < 0.0) + .map(|e| e.abs()) + .sum(); + let mut max_error = 0.0; + for e in manifolds + .iter() + .flat_map(|m| m.data.solver_contacts.iter()) + .map(|ctct| ctct.dist) + .filter(|e| *e < 0.0) + .map(|e| e.abs()) + { + if e > max_error { + max_error = e; + } + } + + println!( + ">>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>>> Penetration errors: {}", + error + ); joints.select_active_interactions(islands, bodies, &mut self.joint_constraint_indices); self.counters.stages.update_time.resume(); |