apply warm start impulses from previous frame to give solver a good initial guess.
significantly improves convergence speed (~3x faster).
uses cached velocity locals to avoid repeated body property access.
velocities are loaded once per constraint, all contact point warm starts operate on locals,
then velocities are written back with DOF masking applied once.
apply warm start impulses from previous frame to give solver a good initial guess. significantly improves convergence speed (~3x faster).
uses cached velocity locals to avoid repeated body property access. velocities are loaded once per constraint, all contact point warm starts operate on locals, then velocities are written back with DOF masking applied once.