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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/velocity_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/velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 24 |
1 files changed, 12 insertions, 12 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 2686c4d..c2aa6f5 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -161,8 +161,8 @@ impl VelocityConstraint { let mut constraint = VelocityConstraint { dir1: force_dir1, elements: [VelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS], - im1: rb1.mass_properties.inv_mass, - im2: rb2.mass_properties.inv_mass, + im1: rb1.effective_inv_mass, + im2: rb2.effective_inv_mass, limit: 0.0, mj_lambda1, mj_lambda2, @@ -204,8 +204,8 @@ impl VelocityConstraint { #[cfg(target_arch = "wasm32")] { constraint.dir1 = force_dir1; - constraint.im1 = rb1.mass_properties.inv_mass; - constraint.im2 = rb2.mass_properties.inv_mass; + constraint.im1 = rb1.effective_inv_mass; + constraint.im2 = rb2.effective_inv_mass; constraint.limit = manifold.data.friction; constraint.mj_lambda1 = mj_lambda1; constraint.mj_lambda2 = mj_lambda2; @@ -226,15 +226,15 @@ impl VelocityConstraint { // Normal part. { let gcross1 = rb1 - .world_inv_inertia_sqrt + .effective_world_inv_inertia_sqrt .transform_vector(dp1.gcross(force_dir1)); let gcross2 = rb2 - .world_inv_inertia_sqrt + .effective_world_inv_inertia_sqrt .transform_vector(dp2.gcross(-force_dir1)); let r = 1.0 - / (rb1.mass_properties.inv_mass - + rb2.mass_properties.inv_mass + / (rb1.effective_inv_mass + + rb2.effective_inv_mass + gcross1.gdot(gcross1) + gcross2.gdot(gcross2)); @@ -263,14 +263,14 @@ impl VelocityConstraint { for j in 0..DIM - 1 { let gcross1 = rb1 - .world_inv_inertia_sqrt + .effective_world_inv_inertia_sqrt .transform_vector(dp1.gcross(tangents1[j])); let gcross2 = rb2 - .world_inv_inertia_sqrt + .effective_world_inv_inertia_sqrt .transform_vector(dp2.gcross(-tangents1[j])); let r = 1.0 - / (rb1.mass_properties.inv_mass - + rb2.mass_properties.inv_mass + / (rb1.effective_inv_mass + + rb2.effective_inv_mass + gcross1.gdot(gcross1) + gcross2.gdot(gcross2)); let rhs = (vel1 - vel2).dot(&tangents1[j]); |