From 0703e5527fd95d86bb6621e61dbcb1a6e7f9329a Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
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_testbed/physics/mod.rs | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

(limited to 'src_testbed/physics')

diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index 13bf915..c3f21ef 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -4,7 +4,7 @@ use rapier::dynamics::{
     RigidBodySet,
 };
 use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
-use rapier::math::Vector;
+use rapier::math::{Real, Vector};
 use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
 
 pub struct PhysicsSnapshot {
@@ -82,7 +82,7 @@ pub struct PhysicsState {
     pub pipeline: PhysicsPipeline,
     pub query_pipeline: QueryPipeline,
     pub integration_parameters: IntegrationParameters,
-    pub gravity: Vector<f32>,
+    pub gravity: Vector<Real>,
     pub hooks: Box<dyn PhysicsHooks<RigidBodySet, ColliderSet>>,
 }
 
-- 
cgit