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Take the solver flags into account when collecting contact manifolds to solve.

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Crozet Sébastien
2020-10-27 14:25:19 +01:00
parent 2509e42d7b
commit 5a5ba9cf59
1 changed files with 2 additions and 1 deletions
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3
src/geometry/narrow_phase.rs
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@@ -413,7 +413,8 @@ impl NarrowPhase {
for manifold in &mut inter.weight.manifolds { for manifold in &mut inter.weight.manifolds {
let rb1 = &bodies[manifold.body_pair.body1]; let rb1 = &bodies[manifold.body_pair.body1];
let rb2 = &bodies[manifold.body_pair.body2]; let rb2 = &bodies[manifold.body_pair.body2];
if manifold.num_active_contacts() != 0 if manifold.solver_flags.contains(SolverFlags::COMPUTE_FORCES)
&& manifold.num_active_contacts() != 0
&& (!rb1.is_dynamic() || !rb1.is_sleeping()) && (!rb1.is_dynamic() || !rb1.is_sleeping())
&& (!rb2.is_dynamic() || !rb2.is_sleeping()) && (!rb2.is_dynamic() || !rb2.is_sleeping())
{ {