Method storeImpulses

src/systems/ContactSolverSystem.cpp:763–785

Store the computed impulses to use them to warm start the solver at the next iteration

// Store the computed impulses to use them to
// warm start the solver at the next iteration
void ContactSolverSystem::storeImpulses() {

    RP3D_PROFILE("ContactSolver::storeImpulses()", mProfiler);

    uint32 contactPointIndex = 0;

    // For each contact manifold
    for (uint32 c=0; c<mNbContactManifolds; c++) {

        for (short int i=0; i<mContactConstraints[c].nbContacts; i++) {

            mContactPoints[contactPointIndex].externalContact->setPenetrationImpulse(mContactPoints[contactPointIndex].penetrationImpulse);

            contactPointIndex++;
        }

        mContactConstraints[c].externalContactManifold->frictionImpulse1 = mContactConstraints[c].friction1Impulse;
        mContactConstraints[c].externalContactManifold->frictionImpulse2 = mContactConstraints[c].friction2Impulse;
        mContactConstraints[c].externalContactManifold->frictionTwistImpulse = mContactConstraints[c].frictionTwistImpulse;
        mContactConstraints[c].externalContactManifold->frictionVector1 = mContactConstraints[c].frictionVector1;
        mContactConstraints[c].externalContactManifold->frictionVector2 = mContactConstraints[c].frictionVector2;
    }
}

// Compute the two unit orthogonal vectors "t1" and "t2" that span the tangential friction plane
// for a contact manifold. The two vectors have to be such that : t1 x t2 = contactNormal.