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/rigid_body.rs | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

(limited to 'src/dynamics/rigid_body.rs')

diff --git a/src/dynamics/rigid_body.rs b/src/dynamics/rigid_body.rs
index e5dcd04..db972d4 100644
--- a/src/dynamics/rigid_body.rs
+++ b/src/dynamics/rigid_body.rs
@@ -1089,7 +1089,8 @@ impl RigidBodyBuilder {
         }
 
         if !self.can_sleep {
-            rb.rb_activation.threshold = -1.0;
+            rb.rb_activation.linear_threshold = -1.0;
+            rb.rb_activation.angular_threshold = -1.0;
         }
 
         rb
-- 
cgit