From 96ecb877e290ad15459258a415aca64ca4af3a69 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 24 Feb 2021 13:26:51 +0100
Subject: Implement dominance.

---
 src/dynamics/solver/velocity_constraint.rs | 2 ++
 1 file changed, 2 insertions(+)

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

diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index 2de9807..abc46c9 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -144,6 +144,8 @@ impl VelocityConstraint {
         out_constraints: &mut Vec<AnyVelocityConstraint>,
         push: bool,
     ) {
+        assert_eq!(manifold.data.relative_dominance, 0);
+
         let inv_dt = params.inv_dt();
         let rb1 = &bodies[manifold.data.body_pair.body1];
         let rb2 = &bodies[manifold.data.body_pair.body2];
-- 
cgit