From d999e0e8c61aa2f115dc256e8011543cda8af7ef Mon Sep 17 00:00:00 2001
From: Emil Ernerfeldt <emil.ernerfeldt@gmail.com>
Date: Wed, 3 Feb 2021 18:18:03 +0100
Subject: Apply accelerations during velocity solver

Closes https://github.com/dimforge/rapier/issues/97

Instead of applying accelerations from gravity and external forces
as a separate step, this PR switches to applying them in the velocity solver.
---
 src/pipeline/physics_pipeline.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/pipeline')

diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 80d7833..293fa9d 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -154,7 +154,7 @@ impl PhysicsPipeline {
         self.counters.stages.update_time.start();
         bodies.foreach_active_dynamic_body_mut_internal(|_, b| {
             b.update_world_mass_properties();
-            b.integrate_accelerations(integration_parameters.dt, *gravity)
+            b.add_gravity(*gravity)
         });
         self.counters.stages.update_time.pause();
 
-- 
cgit