Fix tangent impulse being NaN #842
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Co-authored-by: brendan c <[email protected]>
Vrixyz
commented
Jun 11, 2025
Co-authored-by: SlivoviyBarsik <[email protected]>
Vrixyz
commented
Jun 11, 2025
| @@ -162,6 +162,7 @@ impl OneBodyConstraintBuilder { | |||
| { | |||
| constraint.elements[k].tangent_part.impulse = | |||
| manifold_point.warmstart_tangent_impulse; | |||
| constraint.elements[k].tangent_part.impulse_accumulator = na::zero(); | |||
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two body constraints and generic body constraints may benefit from the same reset. Also, a deconstructing pattern may help with making sure we don't forget to reset any fields.
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The same should be done for Simd constraints, as the impulse accumulators in the tangent part are also never re-set from NaN
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tangent_impulsereported by contact graph #818