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/position_solver.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(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 df0e3fc..ea92c59 100644
--- a/src/dynamics/solver/position_solver.rs
+++ b/src/dynamics/solver/position_solver.rs
@@ -25,7 +25,7 @@ impl PositionSolver {
         self.positions.extend(
             bodies
                 .iter_active_island(island_id)
-                .map(|(_, b)| b.position),
+                .map(|(_, b)| b.next_position),
         );
 
         for _ in 0..params.max_position_iterations {
@@ -39,7 +39,7 @@ impl PositionSolver {
         }
 
         bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
-            rb.set_position_internal(self.positions[rb.active_set_offset])
+            rb.set_next_position(self.positions[rb.active_set_offset])
         });
     }
 }
-- 
cgit