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feat: add warmstarting to contact constraints resolution

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This commit is contained in:
Sébastien Crozet
2024-04-21 18:55:11 +02:00
committed by Sébastien Crozet
parent da79d6fb5b
commit f58b4f7c19
32 changed files with 1540 additions and 342 deletions
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6
benchmarks2d/vertical_stacks2.rs
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@@ -11,14 +11,14 @@ pub fn init_world(testbed: &mut Testbed) {
let multibody_joints = MultibodyJointSet::new();
let num = 40;
let rad = 0.5; // 50.0 / 2.0; // 0.5;
let rad = 50.0 / 2.0; // 0.5;
/*
* Ground
*/
let ground_size = num as f32 * rad * 10.0;
let ground_thickness = 1.0;
let ground_thickness = 25.0;
let rigid_body = RigidBodyBuilder::fixed();
let ground_handle = bodies.insert(rigid_body);
@@ -30,7 +30,7 @@ pub fn init_world(testbed: &mut Testbed) {
*/
let shiftx_centerx = [
(rad * 2.0, -(num as f32) * rad * 2.0 * 1.5),
(rad * 2.0 + 0.0002, -(num as f32) * rad * 2.0 * 1.5),
(rad * 2.0 + rad, num as f32 * rad * 2.0 * 1.5),
];