feat: remove the "fast constraint" special case

2024-05-19 15:49:42 +02:00
parent fdd935dbf1
commit ed8645e34c
6 changed files with 16 additions and 70 deletions
--- a/src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/generic_two_body_constraint.rs
@@ -342,14 +342,8 @@ impl GenericTwoBodyConstraintBuilder {
            .map(|m| &multibodies[m.multibody].link(m.id).unwrap().local_to_world)
            .unwrap_or_else(|| &bodies[constraint.inner.solver_vel2].position);

-        self.inner.update_with_positions(
-            params,
-            solved_dt,
-            pos1,
-            pos2,
-            self.ccd_thickness,
-            &mut constraint.inner,
-        );
+        self.inner
+            .update_with_positions(params, solved_dt, pos1, pos2, &mut constraint.inner);
    }
 }