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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-15 16:44:55 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-15 16:44:55 +0100 |
| commit | 4f8f8017f447fa5137fa5ed5fc3820faebb5c1bc (patch) | |
| tree | 6f4325f1d42ed778b289bab1c6c9525e76cc908f /src/dynamics/solver/joint_constraint/generic_position_constraint.rs | |
| parent | ebd5562af3e3b2a6108dd695931c85da2da99d22 (diff) | |
| download | rapier-4f8f8017f447fa5137fa5ed5fc3820faebb5c1bc.tar.gz rapier-4f8f8017f447fa5137fa5ed5fc3820faebb5c1bc.tar.bz2 rapier-4f8f8017f447fa5137fa5ed5fc3820faebb5c1bc.zip | |
Properly writeback the generic constrainst impulse when it comes from a revolute joint.
Diffstat (limited to 'src/dynamics/solver/joint_constraint/generic_position_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/generic_position_constraint.rs | 2 |
1 files changed, 0 insertions, 2 deletions
diff --git a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs index 1502403..be12258 100644 --- a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs @@ -152,7 +152,6 @@ impl GenericPositionConstraint { } } - // Will be actually inverted right after. // TODO: we should keep the SdpMatrix3 type. let rotmat = basis.to_rotation_matrix().into_inner(); let delassus = (self.ii1.quadform(&rotmat) + self.ii2.quadform(&rotmat)).into_matrix(); @@ -259,7 +258,6 @@ impl GenericPositionGroundConstraint { let rotmat = basis.to_rotation_matrix().into_inner(); let rmat2 = r2.gcross_matrix() * rotmat; - // Will be actually inverted right after. // TODO: we should keep the SdpMatrix3 type. let delassus = self .ii2 |