Attempt to combine the position constraints initialization with the velocity constraints initialization.

2020-12-30 12:03:25 +01:00
parent 5876a262da
commit 7545e06cb1
4 changed files with 39 additions and 74 deletions
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -29,6 +29,7 @@ impl IslandSolver {
    ) {
        if manifold_indices.len() != 0 || joint_indices.len() != 0 {
            counters.solver.velocity_assembly_time.resume();
+            self.position_solver.part.constraints.clear();
            self.velocity_solver.init_constraints(
                island_id,
                params,
@@ -37,6 +38,7 @@ impl IslandSolver {
                &manifold_indices,
                joints,
                &joint_indices,
+                &mut self.position_solver.part.constraints,
            );
            counters.solver.velocity_assembly_time.pause();