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Move the cfm factor to the velocity constraints instead of the elements.

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This commit is contained in:
Sébastien Crozet
2022-05-30 19:14:05 +02:00
parent 0d05536ab6
commit fef8416983
11 changed files with 79 additions and 72 deletions
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7
src/pipeline/debug_render_pipeline/debug_render_pipeline.rs
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@@ -2,12 +2,10 @@ use super::{outlines, DebugRenderBackend};
use crate::dynamics::{
GenericJoint, ImpulseJointSet, MultibodyJointSet, RigidBodySet, RigidBodyType,
};
use crate::geometry::{
Ball, ColliderSet, Cuboid, NarrowPhase, OctantPattern, Shape, TypedShape, VoxelType, AABB,
};
use crate::geometry::{Ball, ColliderSet, Cuboid, NarrowPhase, Shape, TypedShape};
#[cfg(feature = "dim3")]
use crate::geometry::{Cone, Cylinder};
use crate::math::{Isometry, Point, Real, Translation, Vector, DIM};
use crate::math::{Isometry, Point, Real, Vector, DIM};
use crate::pipeline::debug_render_pipeline::debug_render_backend::DebugRenderObject;
use crate::pipeline::debug_render_pipeline::DebugRenderStyle;
use crate::utils::WBasis;
@@ -87,6 +85,7 @@ impl DebugRenderPipeline {
self.render_contacts(backend, colliders, narrow_phase);
}
/// Render contact.
pub fn render_contacts(
&mut self,
backend: &mut impl DebugRenderBackend,