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/dynamics/joint/joint_data.rs | 5 +++++
 1 file changed, 5 insertions(+)

(limited to 'src/dynamics/joint/joint_data.rs')

diff --git a/src/dynamics/joint/joint_data.rs b/src/dynamics/joint/joint_data.rs
index 35d832d..b1ad6c6 100644
--- a/src/dynamics/joint/joint_data.rs
+++ b/src/dynamics/joint/joint_data.rs
@@ -218,12 +218,14 @@ impl JointData {
     }
 
     /// Set the spring-like model used by the motor to reach the desired target velocity and position.
+    #[must_use]
     pub fn motor_model(mut self, axis: JointAxis, model: MotorModel) -> Self {
         self.motors[axis as usize].model = model;
         self
     }
 
     /// Sets the target velocity this motor needs to reach.
+    #[must_use]
     pub fn motor_velocity(self, axis: JointAxis, target_vel: Real, factor: Real) -> Self {
         self.motor_axis(
             axis,
@@ -235,6 +237,7 @@ impl JointData {
     }
 
     /// Sets the target angle this motor needs to reach.
+    #[must_use]
     pub fn motor_position(
         self,
         axis: JointAxis,
@@ -246,6 +249,7 @@ impl JointData {
     }
 
     /// Configure both the target angle and target velocity of the motor.
+    #[must_use]
     pub fn motor_axis(
         mut self,
         axis: JointAxis,
@@ -263,6 +267,7 @@ impl JointData {
         self
     }
 
+    #[must_use]
     pub fn motor_max_impulse(mut self, axis: JointAxis, max_impulse: Real) -> Self {
         self.motors[axis as usize].max_impulse = max_impulse;
         self
-- 
cgit