From 97157c9423f3360c5e941b4065377689221014ae Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Fri, 26 Mar 2021 18:16:27 +0100
Subject: First working version of non-linear CCD based on single-substep
 motion-clamping.

---
 src_testbed/physics/mod.rs | 4 +++-
 1 file changed, 3 insertions(+), 1 deletion(-)

(limited to 'src_testbed/physics')

diff --git a/src_testbed/physics/mod.rs b/src_testbed/physics/mod.rs
index 0987e32..b89f9c8 100644
--- a/src_testbed/physics/mod.rs
+++ b/src_testbed/physics/mod.rs
@@ -1,5 +1,5 @@
 use crossbeam::channel::Receiver;
-use rapier::dynamics::{IntegrationParameters, JointSet, RigidBodySet};
+use rapier::dynamics::{CCDSolver, IntegrationParameters, JointSet, RigidBodySet};
 use rapier::geometry::{BroadPhase, ColliderSet, ContactEvent, IntersectionEvent, NarrowPhase};
 use rapier::math::Vector;
 use rapier::pipeline::{PhysicsHooks, PhysicsPipeline, QueryPipeline};
@@ -73,6 +73,7 @@ pub struct PhysicsState {
     pub bodies: RigidBodySet,
     pub colliders: ColliderSet,
     pub joints: JointSet,
+    pub ccd_solver: CCDSolver,
     pub pipeline: PhysicsPipeline,
     pub query_pipeline: QueryPipeline,
     pub integration_parameters: IntegrationParameters,
@@ -88,6 +89,7 @@ impl PhysicsState {
             bodies: RigidBodySet::new(),
             colliders: ColliderSet::new(),
             joints: JointSet::new(),
+            ccd_solver: CCDSolver::new(),
             pipeline: PhysicsPipeline::new(),
             query_pipeline: QueryPipeline::new(),
             integration_parameters: IntegrationParameters::default(),
-- 
cgit