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| author | Sébastien Crozet <developer@crozet.re> | 2022-03-13 15:28:33 +0100 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2022-03-20 21:49:16 +0100 |
| commit | 1535db87c7e21065dfbc736ffe5927810d37fe75 (patch) | |
| tree | f7ee534b0601b6ca6eeee2d6404610312d072b7e /src/dynamics/solver/generic_velocity_ground_constraint.rs | |
| parent | 34b0d51455cbeba16dd5bacb451e476efb591518 (diff) | |
| download | rapier-1535db87c7e21065dfbc736ffe5927810d37fe75.tar.gz rapier-1535db87c7e21065dfbc736ffe5927810d37fe75.tar.bz2 rapier-1535db87c7e21065dfbc736ffe5927810d37fe75.zip | |
Add a max penetration correction integration parameter
Diffstat (limited to 'src/dynamics/solver/generic_velocity_ground_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/generic_velocity_ground_constraint.rs | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/dynamics/solver/generic_velocity_ground_constraint.rs b/src/dynamics/solver/generic_velocity_ground_constraint.rs index 044bd48..76e2e51 100644 --- a/src/dynamics/solver/generic_velocity_ground_constraint.rs +++ b/src/dynamics/solver/generic_velocity_ground_constraint.rs @@ -148,7 +148,7 @@ impl GenericVelocityGroundConstraint { rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt; rhs_wo_bias *= is_bouncy + is_resting; let rhs_bias = - /* is_resting * */ erp_inv_dt * manifold_point.dist.min(0.0); + /* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0); constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart { gcross2: na::zero(), // Unused for generic constraints. |