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Some small performance improvements.

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This commit is contained in:
Crozet Sébastien
2021-04-01 10:11:32 +02:00
parent 4fb898c77c
commit 0ecc302971
4 changed files with 13 additions and 12 deletions
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13
src/dynamics/rigid_body.rs
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@@ -457,15 +457,14 @@ impl RigidBody {
shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse()
}
pub(crate) fn integrate_next_position(&mut self, dt: Real, apply_damping: bool) {
// TODO: do we want to apply damping before or after the velocity integration?
if apply_damping {
self.linvel *= 1.0 / (1.0 + dt * self.linear_damping);
self.angvel *= 1.0 / (1.0 + dt * self.angular_damping);
}
pub(crate) fn apply_damping(&mut self, dt: Real) {
self.linvel *= 1.0 / (1.0 + dt * self.linear_damping);
self.angvel *= 1.0 / (1.0 + dt * self.angular_damping);
}
pub(crate) fn integrate_next_position(&mut self, dt: Real) {
self.next_position = self.integrate_velocity(dt) * self.position;
let _ = self.next_position.rotation.renormalize();
let _ = self.next_position.rotation.renormalize_fast();
}
/// The linear velocity of this rigid-body.