From 97157c9423f3360c5e941b4065377689221014ae Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Fri, 26 Mar 2021 18:16:27 +0100
Subject: First working version of non-linear CCD based on single-substep
 motion-clamping.

---
 src/dynamics/solver/island_solver.rs | 4 ++--
 1 file changed, 2 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 d0866bf..6ebf402 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -59,7 +59,7 @@ impl IslandSolver {
 
             counters.solver.velocity_update_time.resume();
             bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
-                rb.integrate(params.dt)
+                rb.integrate_next_position(params.dt, true)
             });
             counters.solver.velocity_update_time.pause();
 
@@ -77,7 +77,7 @@ impl IslandSolver {
             bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
                 // Since we didn't run the velocity solver we need to integrate the accelerations here
                 rb.integrate_accelerations(params.dt);
-                rb.integrate(params.dt);
+                rb.integrate_next_position(params.dt, true);
             });
             counters.solver.velocity_update_time.pause();
         }
-- 
cgit 


From 88933bd4317c6ae522a4af906919dffd2becc6f9 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Tue, 30 Mar 2021 17:11:52 +0200
Subject: Run the position solver after the CCD motion clamping.

---
 src/dynamics/solver/island_solver.rs | 32 +++++++++++++++++++++-----------
 1 file changed, 21 insertions(+), 11 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 6ebf402..c117457 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -24,7 +24,25 @@ impl IslandSolver {
         }
     }
 
-    pub fn solve_island(
+    pub fn solve_position_constraints(
+        &mut self,
+        island_id: usize,
+        counters: &mut Counters,
+        params: &IntegrationParameters,
+        bodies: &mut RigidBodySet,
+    ) {
+        counters.solver.position_resolution_time.resume();
+        self.position_solver.solve(
+            island_id,
+            params,
+            bodies,
+            &self.contact_constraints.position_constraints,
+            &self.joint_constraints.position_constraints,
+        );
+        counters.solver.position_resolution_time.pause();
+    }
+
+    pub fn init_constraints_and_solve_velocity_constraints(
         &mut self,
         island_id: usize,
         counters: &mut Counters,
@@ -62,17 +80,9 @@ impl IslandSolver {
                 rb.integrate_next_position(params.dt, true)
             });
             counters.solver.velocity_update_time.pause();
-
-            counters.solver.position_resolution_time.resume();
-            self.position_solver.solve(
-                island_id,
-                params,
-                bodies,
-                &self.contact_constraints.position_constraints,
-                &self.joint_constraints.position_constraints,
-            );
-            counters.solver.position_resolution_time.pause();
         } else {
+            self.contact_constraints.clear();
+            self.joint_constraints.clear();
             counters.solver.velocity_update_time.resume();
             bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
                 // Since we didn't run the velocity solver we need to integrate the accelerations here
-- 
cgit 


From 0ecc302971e353f181c5319504124c3967c89d15 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Thu, 1 Apr 2021 10:11:32 +0200
Subject: Some small performance improvements.

---
 src/dynamics/solver/island_solver.rs | 6 ++++--
 1 file changed, 4 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 c117457..c684cc5 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -77,7 +77,8 @@ impl IslandSolver {
 
             counters.solver.velocity_update_time.resume();
             bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
-                rb.integrate_next_position(params.dt, true)
+                rb.apply_damping(params.dt);
+                rb.integrate_next_position(params.dt);
             });
             counters.solver.velocity_update_time.pause();
         } else {
@@ -87,7 +88,8 @@ impl IslandSolver {
             bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
                 // Since we didn't run the velocity solver we need to integrate the accelerations here
                 rb.integrate_accelerations(params.dt);
-                rb.integrate_next_position(params.dt, true);
+                rb.apply_damping(params.dt);
+                rb.integrate_next_position(params.dt);
             });
             counters.solver.velocity_update_time.pause();
         }
-- 
cgit