Fix tangent impulse being NaN #842
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Co-authored-by: brendan c <[email protected]>
ThierryBerger
commented
Jun 11, 2025
Co-authored-by: SlivoviyBarsik <[email protected]>
ThierryBerger
commented
Jun 11, 2025
| { | ||
| 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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hi @Vrixyz , thank you so much for looking in to this! I would be happy to write up the changelog update if that would help get this over the line? |
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tangent_impulsereported by contact graph #818