diff options
Diffstat (limited to 'src_testbed/testbed.rs')
| -rw-r--r-- | src_testbed/testbed.rs | 22 |
1 files changed, 6 insertions, 16 deletions
diff --git a/src_testbed/testbed.rs b/src_testbed/testbed.rs index 7be4594..a575f98 100644 --- a/src_testbed/testbed.rs +++ b/src_testbed/testbed.rs @@ -102,10 +102,12 @@ bitflags! { } } -#[derive(Copy, Clone, Debug, PartialEq, Eq)] +#[derive(Copy, Clone, Debug, PartialEq, Eq, Default)] pub enum RapierSolverType { - SmallStepsPgs, - StandardPgs, + #[default] + TgsSoft, + TgsSoftNoWarmstart, + PgsLegacy, } pub type SimulationBuilders = Vec<(&'static str, fn(&mut Testbed))>; @@ -214,7 +216,7 @@ impl TestbedApp { example_names: Vec::new(), selected_example: 0, selected_backend: RAPIER_BACKEND, - solver_type: RapierSolverType::SmallStepsPgs, + solver_type: RapierSolverType::default(), physx_use_two_friction_directions: true, nsteps: 1, camera_locked: false, @@ -1202,18 +1204,6 @@ fn update_testbed( } plugins.0.clear(); - if state.selected_example != prev_example { - harness.physics.integration_parameters = IntegrationParameters::default(); - - match state.solver_type { - RapierSolverType::SmallStepsPgs => {} // It’s already the default. - RapierSolverType::StandardPgs => harness - .physics - .integration_parameters - .switch_to_standard_pgs_solver(), - } - } - let selected_example = state.selected_example; let graphics = &mut *graphics; let meshes = &mut *meshes; |