solverDef.velocities = m_velocities; contactSolver.init(solverDef); contactSolver.initializeVelocityConstraints(); contactSolver.warmStart(); contactSolver.solveVelocityConstraints(); contactSolver.storeImpulses(); profile.solveVelocity.accum(timer.getMilliseconds()); boolean positionSolved = false; for (int i = 0; i < step.positionIterations; ++i) { boolean contactsOkay = contactSolver.solvePositionConstraints();
toiSolverDef.positions = m_positions; toiSolverDef.velocities = m_velocities; toiContactSolver.init(toiSolverDef); boolean contactsOkay = toiContactSolver.solveTOIPositionConstraints(toiIndexA, toiIndexB); if (contactsOkay) { break; toiContactSolver.initializeVelocityConstraints(); toiContactSolver.solveVelocityConstraints();
solverDef.velocities = m_velocities; contactSolver.init(solverDef); contactSolver.initializeVelocityConstraints(); contactSolver.warmStart(); contactSolver.solveVelocityConstraints(); contactSolver.storeImpulses(); profile.solveVelocity.accum(timer.getMilliseconds()); boolean positionSolved = false; for (int i = 0; i < step.positionIterations; ++i) { boolean contactsOkay = contactSolver.solvePositionConstraints();
toiSolverDef.positions = m_positions; toiSolverDef.velocities = m_velocities; toiContactSolver.init(toiSolverDef); boolean contactsOkay = toiContactSolver.solveTOIPositionConstraints(toiIndexA, toiIndexB); if (contactsOkay) { break; toiContactSolver.initializeVelocityConstraints(); toiContactSolver.solveVelocityConstraints();
solverDef.velocities = m_velocities; contactSolver.init(solverDef); contactSolver.initializeVelocityConstraints(); contactSolver.warmStart(); contactSolver.solveVelocityConstraints(); contactSolver.storeImpulses(); profile.solveVelocity = timer.getMilliseconds(); boolean positionSolved = false; for (int i = 0; i < step.positionIterations; ++i) { boolean contactsOkay = contactSolver.solvePositionConstraints();
toiSolverDef.positions = m_positions; toiSolverDef.velocities = m_velocities; toiContactSolver.init(toiSolverDef); boolean contactsOkay = toiContactSolver.solveTOIPositionConstraints(toiIndexA, toiIndexB); if (contactsOkay) { break; toiContactSolver.initializeVelocityConstraints(); toiContactSolver.solveVelocityConstraints();
solverDef.velocities = m_velocities; contactSolver.init(solverDef); contactSolver.initializeVelocityConstraints(); contactSolver.warmStart(); contactSolver.solveVelocityConstraints(); contactSolver.storeImpulses(); profile.solveVelocity.accum(timer.getMilliseconds()); boolean positionSolved = false; for (int i = 0; i < step.positionIterations; ++i) { boolean contactsOkay = contactSolver.solvePositionConstraints();
toiSolverDef.positions = m_positions; toiSolverDef.velocities = m_velocities; toiContactSolver.init(toiSolverDef); boolean contactsOkay = toiContactSolver.solveTOIPositionConstraints(toiIndexA, toiIndexB); if (contactsOkay) { break; toiContactSolver.initializeVelocityConstraints(); toiContactSolver.solveVelocityConstraints();
solverDef.velocities = m_velocities; contactSolver.init(solverDef); contactSolver.initializeVelocityConstraints(); contactSolver.warmStart(); contactSolver.solveVelocityConstraints(); contactSolver.storeImpulses(); profile.solveVelocity.accum(timer.getMilliseconds()); boolean positionSolved = false; for (int i = 0; i < step.positionIterations; ++i) { boolean contactsOkay = contactSolver.solvePositionConstraints();
toiSolverDef.positions = m_positions; toiSolverDef.velocities = m_velocities; toiContactSolver.init(toiSolverDef); boolean contactsOkay = toiContactSolver.solveTOIPositionConstraints(toiIndexA, toiIndexB); if (contactsOkay) { break; toiContactSolver.initializeVelocityConstraints(); toiContactSolver.solveVelocityConstraints();