nimblephysics
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refactor impulses
- Originally, the LCP solution was list of pointers. Each pointer pointed to a scalar py. We'd increment the pointer to access px and pz in the presence of friction.
- Now, the LCP solution is a matrix with shape
(numContacts, 3)
. The last two columns of each row are only used if friction is on.
TODO: Some tests are failing. To pass the tests, we need to add support for non-contact constraints with dynamic size impulses
vector.