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| author | Crozet Sébastien <developer@crozet.re> | 2021-01-21 14:58:40 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-01-21 14:58:40 +0100 |
| commit | 8f330b2a00610e5b68c1acd9208120e8f750c7aa (patch) | |
| tree | 9526425839601340953ebe2b94bd2bbb36161579 /src/dynamics/solver/position_constraint.rs | |
| parent | d69b5876f35a6d67e164e5e6dc5719413f53c4f5 (diff) | |
| download | rapier-8f330b2a00610e5b68c1acd9208120e8f750c7aa.tar.gz rapier-8f330b2a00610e5b68c1acd9208120e8f750c7aa.tar.bz2 rapier-8f330b2a00610e5b68c1acd9208120e8f750c7aa.zip | |
Rotation locking: apply filter only to the world inertia properties to fix the multi-collider case.
Diffstat (limited to 'src/dynamics/solver/position_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/position_constraint.rs | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/dynamics/solver/position_constraint.rs b/src/dynamics/solver/position_constraint.rs index 9aa10bb..f846989 100644 --- a/src/dynamics/solver/position_constraint.rs +++ b/src/dynamics/solver/position_constraint.rs @@ -94,10 +94,10 @@ impl PositionConstraint { local_p2, local_n1: rb1.position.inverse_transform_vector(&manifold.data.normal), dists, - im1: rb1.mass_properties.inv_mass, - im2: rb2.mass_properties.inv_mass, - ii1: rb1.world_inv_inertia_sqrt.squared(), - ii2: rb2.world_inv_inertia_sqrt.squared(), + im1: rb1.effective_inv_mass, + im2: rb2.effective_inv_mass, + ii1: rb1.effective_world_inv_inertia_sqrt.squared(), + ii2: rb2.effective_world_inv_inertia_sqrt.squared(), num_contacts: manifold_points.len() as u8, erp: params.erp, max_linear_correction: params.max_linear_correction, |