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| author | Sébastien Crozet <developer@crozet.re> | 2022-01-16 07:52:19 -0800 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-01-16 07:52:19 -0800 |
| commit | 4454a845e98b990abf3929ca46b59d0fca5a18ec (patch) | |
| tree | e4808725e872b7178ba81c3ac5475be3a04569ac /src/dynamics/solver/generic_velocity_constraint.rs | |
| parent | 0ccd15c4b1f57d6c85a1727a55ed991c835690f5 (diff) | |
| parent | 8213e92f146fab618a406e0f8fed8a15ebd9228c (diff) | |
| download | rapier-4454a845e98b990abf3929ca46b59d0fca5a18ec.tar.gz rapier-4454a845e98b990abf3929ca46b59d0fca5a18ec.tar.bz2 rapier-4454a845e98b990abf3929ca46b59d0fca5a18ec.zip | |
Merge pull request #276 from dimforge/lock-translation-axis
Allow locking individual translational axes
Diffstat (limited to 'src/dynamics/solver/generic_velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/generic_velocity_constraint.rs | 22 |
1 files changed, 14 insertions, 8 deletions
diff --git a/src/dynamics/solver/generic_velocity_constraint.rs b/src/dynamics/solver/generic_velocity_constraint.rs index fb06335..8c93511 100644 --- a/src/dynamics/solver/generic_velocity_constraint.rs +++ b/src/dynamics/solver/generic_velocity_constraint.rs @@ -116,12 +116,12 @@ impl GenericVelocityConstraint { im1: if rb_type1.is_dynamic() { rb_mprops1.effective_inv_mass } else { - 0.0 + na::zero() }, im2: if rb_type2.is_dynamic() { rb_mprops2.effective_inv_mass } else { - 0.0 + na::zero() }, limit: 0.0, mj_lambda1, @@ -175,7 +175,8 @@ impl GenericVelocityConstraint { ) .0 } else if rb_type1.is_dynamic() { - rb_mprops1.effective_inv_mass + gcross1.gdot(gcross1) + force_dir1.dot(&rb_mprops1.effective_inv_mass.component_mul(&force_dir1)) + + gcross1.gdot(gcross1) } else { 0.0 }; @@ -193,7 +194,8 @@ impl GenericVelocityConstraint { ) .0 } else if rb_type2.is_dynamic() { - rb_mprops2.effective_inv_mass + gcross2.gdot(gcross2) + force_dir1.dot(&rb_mprops2.effective_inv_mass.component_mul(&force_dir1)) + + gcross2.gdot(gcross2) } else { 0.0 }; @@ -258,7 +260,9 @@ impl GenericVelocityConstraint { ) .0 } else if rb_type1.is_dynamic() { - rb_mprops1.effective_inv_mass + gcross1.gdot(gcross1) + force_dir1 + .dot(&rb_mprops1.effective_inv_mass.component_mul(&force_dir1)) + + gcross1.gdot(gcross1) } else { 0.0 }; @@ -276,7 +280,9 @@ impl GenericVelocityConstraint { ) .0 } else if rb_type2.is_dynamic() { - rb_mprops2.effective_inv_mass + gcross2.gdot(gcross2) + force_dir1 + .dot(&rb_mprops2.effective_inv_mass.component_mul(&force_dir1)) + + gcross2.gdot(gcross2) } else { 0.0 }; @@ -345,8 +351,8 @@ impl GenericVelocityConstraint { &self.velocity_constraint.dir1, #[cfg(feature = "dim3")] &self.velocity_constraint.tangent1, - self.velocity_constraint.im1, - self.velocity_constraint.im2, + &self.velocity_constraint.im1, + &self.velocity_constraint.im2, self.velocity_constraint.limit, self.ndofs1, self.ndofs2, |