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| author | Emil Ernerfeldt <emil.ernerfeldt@gmail.com> | 2021-02-18 18:18:47 +0100 |
|---|---|---|
| committer | Emil Ernerfeldt <emil.ernerfeldt@gmail.com> | 2021-02-26 11:06:29 +0100 |
| commit | 48afbac6cefbcf1ad6ab663ce15c503bb549cb69 (patch) | |
| tree | ad1e6c3ba78a0f5690aa1d39d3fd055734ed9f35 /src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs | |
| parent | 89de6903dcdc1f0dfa4314cf99dd19fa179eb756 (diff) | |
| download | rapier-48afbac6cefbcf1ad6ab663ce15c503bb549cb69.tar.gz rapier-48afbac6cefbcf1ad6ab663ce15c503bb549cb69.tar.bz2 rapier-48afbac6cefbcf1ad6ab663ce15c503bb549cb69.zip | |
Implement revolute wide
Diffstat (limited to 'src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs | 1 |
1 files changed, 1 insertions, 0 deletions
diff --git a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs index 46f375b..15869e2 100644 --- a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs @@ -107,6 +107,7 @@ impl RevoluteVelocityConstraint { let axis1 = rb1.position * joint.local_axis1; let axis2 = rb2.position * joint.local_axis2; + let ang_err = Rotation::rotation_between_axis(&axis1, &axis2).unwrap_or_else(Rotation::identity); let ang_err = ang_err.scaled_axis(); |