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/solver/island_solver.rs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

(limited to 'src/dynamics/solver/island_solver.rs')

diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
index aeb2698..9f82182 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -2,7 +2,8 @@ use super::VelocitySolver;
 use crate::counters::Counters;
 use crate::data::{BundleSet, ComponentSet, ComponentSetMut};
 use crate::dynamics::solver::{
-    AnyJointVelocityConstraint, AnyVelocityConstraint, GenericVelocityConstraint, SolverConstraints,
+    AnyGenericVelocityConstraint, AnyJointVelocityConstraint, AnyVelocityConstraint,
+    SolverConstraints,
 };
 use crate::dynamics::{
     IntegrationParameters, JointGraphEdge, JointIndex, RigidBodyDamping, RigidBodyForces,
@@ -13,7 +14,7 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::prelude::{MultibodyJointSet, RigidBodyActivation};
 
 pub struct IslandSolver {
-    contact_constraints: SolverConstraints<AnyVelocityConstraint, GenericVelocityConstraint>,
+    contact_constraints: SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint>,
     joint_constraints: SolverConstraints<AnyJointVelocityConstraint, ()>,
     velocity_solver: VelocitySolver,
 }
-- 
cgit