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/position_solver.rs | 5 +++++
 1 file changed, 5 insertions(+)

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

diff --git a/src/dynamics/solver/position_solver.rs b/src/dynamics/solver/position_solver.rs
index ea92c59..2fa4aee 100644
--- a/src/dynamics/solver/position_solver.rs
+++ b/src/dynamics/solver/position_solver.rs
@@ -21,6 +21,11 @@ impl PositionSolver {
         contact_constraints: &[AnyPositionConstraint],
         joint_constraints: &[AnyJointPositionConstraint],
     ) {
+        if contact_constraints.is_empty() && joint_constraints.is_empty() {
+            // Nothing to do.
+            return;
+        }
+
         self.positions.clear();
         self.positions.extend(
             bodies
-- 
cgit