From f58b4f7c195ab7acf0778ea65c46ebf37ac8188c Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 21 Apr 2024 18:55:11 +0200
Subject: feat: add warmstarting to contact constraints resolution

---
 src/geometry/narrow_phase.rs | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/geometry/narrow_phase.rs')

diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index f754808..a711117 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -987,6 +987,8 @@ impl NarrowPhase {
                                 restitution,
                                 tangent_velocity: Vector::zeros(),
                                 is_new: contact.data.impulse == 0.0,
+                                warmstart_impulse: contact.data.warmstart_impulse,
+                                warmstart_tangent_impulse: contact.data.warmstart_tangent_impulse,
                             };
 
                             manifold.data.solver_contacts.push(solver_contact);
-- 
cgit