Method solveContactsAndConstraints

src/engine/PhysicsWorld.cpp:321–345

Solve the contacts and constraints

// Solve the contacts and constraints
void PhysicsWorld::solveContactsAndConstraints(decimal timeStep) {

    RP3D_PROFILE("PhysicsWorld::solveContactsAndConstraints()", mProfiler);

    // ---------- Solve velocity constraints for joints and contacts ---------- //

    // Initialize the contact solver
    mContactSolverSystem.init(mCollisionDetection.mCurrentContactManifolds, mCollisionDetection.mCurrentContactPoints, timeStep);

    // Initialize the constraint solver
    mConstraintSolverSystem.initialize(timeStep);

    // For each iteration of the velocity solver
    for (uint32 i=0; i<mNbVelocitySolverIterations; i++) {

        mConstraintSolverSystem.solveVelocityConstraints();

        mContactSolverSystem.solve();
    }

    mContactSolverSystem.storeImpulses();

    // Reset the contact solver
    mContactSolverSystem.reset();
}

// Solve the position error correction of the constraints
void PhysicsWorld::solvePositionCorrection() {