()
| 668 | } |
| 669 | |
| 670 | func (solver *B2ContactSolver) StoreImpulses() { |
| 671 | for i := 0; i < solver.M_count; i++ { |
| 672 | vc := &solver.M_velocityConstraints[i] |
| 673 | manifold := solver.M_contacts[vc.ContactIndex].GetManifold() |
| 674 | |
| 675 | for j := 0; j < vc.PointCount; j++ { |
| 676 | manifold.Points[j].NormalImpulse = vc.Points[j].NormalImpulse |
| 677 | manifold.Points[j].TangentImpulse = vc.Points[j].TangentImpulse |
| 678 | } |
| 679 | } |
| 680 | } |
| 681 | |
| 682 | type B2PositionSolverManifold struct { |
| 683 | Normal B2Vec2 |