From 0703e5527fd95d86bb6621e61dbcb1a6e7f9329a Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 16 Jan 2022 16:40:59 +0100
Subject: Fix some solver issues

- Fix the wrong codepath taken  by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
---
 src/data/arena.rs   | 7 ++-----
 src/data/coarena.rs | 4 ++++
 2 files changed, 6 insertions(+), 5 deletions(-)

(limited to 'src/data')

diff --git a/src/data/arena.rs b/src/data/arena.rs
index c7cbf07..b14737e 100644
--- a/src/data/arena.rs
+++ b/src/data/arena.rs
@@ -70,11 +70,8 @@ impl Index {
     ///
     /// Providing arbitrary values will lead to malformed indices and ultimately
     /// panics.
-    pub fn from_raw_parts(a: u32, b: u32) -> Index {
-        Index {
-            index: a,
-            generation: b,
-        }
+    pub fn from_raw_parts(index: u32, generation: u32) -> Index {
+        Index { index, generation }
     }
 
     /// Convert this `Index` into its raw parts.
diff --git a/src/data/coarena.rs b/src/data/coarena.rs
index 1f01c05..c6fd122 100644
--- a/src/data/coarena.rs
+++ b/src/data/coarena.rs
@@ -29,6 +29,10 @@ impl<T> Coarena<T> {
         self.data.get(index as usize).map(|(_, t)| t)
     }
 
+    pub(crate) fn get_gen(&self, index: u32) -> Option<u32> {
+        self.data.get(index as usize).map(|(gen, _)| *gen)
+    }
+
     /// Deletes an element for the coarena and returns its value.
     ///
     /// This method will reset the value to the given `removed_value`.
-- 
cgit