From 0703e5527fd95d86bb6621e61dbcb1a6e7f9329a Mon Sep 17 00:00:00 2001 From: Sébastien Crozet 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/velocity_solver.rs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/dynamics/solver/velocity_solver.rs') diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index 91b6be9..1cc43ac 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -1,6 +1,6 @@ use super::AnyJointVelocityConstraint; use crate::data::{BundleSet, ComponentSet, ComponentSetMut}; -use crate::dynamics::solver::GenericVelocityConstraint; +use crate::dynamics::solver::AnyGenericVelocityConstraint; use crate::dynamics::{ solver::{AnyVelocityConstraint, DeltaVel}, IntegrationParameters, JointGraphEdge, MultibodyJointSet, RigidBodyForces, RigidBodyType, @@ -36,7 +36,7 @@ impl VelocitySolver { manifolds_all: &mut [&mut ContactManifold], joints_all: &mut [JointGraphEdge], contact_constraints: &mut [AnyVelocityConstraint], - generic_contact_constraints: &mut [GenericVelocityConstraint], + generic_contact_constraints: &mut [AnyGenericVelocityConstraint], generic_contact_jacobians: &DVector, joint_constraints: &mut [AnyJointVelocityConstraint], generic_joint_jacobians: &DVector, -- cgit