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Apply accelerations during velocity solver

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Closes https://github.com/dimforge/rapier/issues/97

Instead of applying accelerations from gravity and external forces
as a separate step, this PR switches to applying them in the velocity solver.
This commit is contained in:
Emil Ernerfeldt
2021-02-03 18:18:03 +01:00
parent 17ef7e10f9
commit d999e0e8c6
5 changed files with 64 additions and 13 deletions
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22
src/dynamics/solver/island_solver.rs
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@@ -35,7 +35,9 @@ impl IslandSolver {
joints: &mut [JointGraphEdge],
joint_indices: &[JointIndex],
) {
if manifold_indices.len() != 0 || joint_indices.len() != 0 {
let has_constraints = manifold_indices.len() != 0 || joint_indices.len() != 0;
if has_constraints {
counters.solver.velocity_assembly_time.resume();
self.contact_constraints
.init(island_id, params, bodies, manifolds, manifold_indices);
@@ -54,13 +56,13 @@ impl IslandSolver {
&mut self.joint_constraints.velocity_constraints,
);
counters.solver.velocity_resolution_time.pause();
}
counters.solver.velocity_update_time.resume();
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt));
counters.solver.velocity_update_time.pause();
counters.solver.velocity_update_time.resume();
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
rb.integrate(params.dt)
});
counters.solver.velocity_update_time.pause();
if manifold_indices.len() != 0 || joint_indices.len() != 0 {
counters.solver.position_resolution_time.resume();
self.position_solver.solve(
island_id,
@@ -70,6 +72,14 @@ impl IslandSolver {
&self.joint_constraints.position_constraints,
);
counters.solver.position_resolution_time.pause();
} else {
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
rb.integrate_accelerations(params.dt);
rb.integrate(params.dt);
});
counters.solver.velocity_update_time.pause();
}
}
}