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Run the position solver after the CCD motion clamping.

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This commit is contained in:
Crozet Sébastien
2021-03-30 17:11:52 +02:00
parent d2ee642053
commit 88933bd431
6 changed files with 142 additions and 98 deletions
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32
src/dynamics/solver/island_solver.rs
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@@ -24,7 +24,25 @@ impl IslandSolver {
}
}
pub fn solve_island(
pub fn solve_position_constraints(
&mut self,
island_id: usize,
counters: &mut Counters,
params: &IntegrationParameters,
bodies: &mut RigidBodySet,
) {
counters.solver.position_resolution_time.resume();
self.position_solver.solve(
island_id,
params,
bodies,
&self.contact_constraints.position_constraints,
&self.joint_constraints.position_constraints,
);
counters.solver.position_resolution_time.pause();
}
pub fn init_constraints_and_solve_velocity_constraints(
&mut self,
island_id: usize,
counters: &mut Counters,
@@ -62,17 +80,9 @@ impl IslandSolver {
rb.integrate_next_position(params.dt, true)
});
counters.solver.velocity_update_time.pause();
counters.solver.position_resolution_time.resume();
self.position_solver.solve(
island_id,
params,
bodies,
&self.contact_constraints.position_constraints,
&self.joint_constraints.position_constraints,
);
counters.solver.position_resolution_time.pause();
} else {
self.contact_constraints.clear();
self.joint_constraints.clear();
counters.solver.velocity_update_time.resume();
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
// Since we didn't run the velocity solver we need to integrate the accelerations here