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| author | Emil Ernerfeldt <emil.ernerfeldt@gmail.com> | 2021-02-17 19:08:43 +0100 |
|---|---|---|
| committer | Emil Ernerfeldt <emil.ernerfeldt@gmail.com> | 2021-02-26 11:06:29 +0100 |
| commit | 4162aed2a04767e6bac8332b8f8fbacb42f1f1a3 (patch) | |
| tree | 6f598c01fc8b7de11a0a94c01ddc8db311ce3ba8 /src/dynamics/solver/velocity_constraint.rs | |
| parent | 21247a123691de7a5f53454c7edba838af83c594 (diff) | |
| download | rapier-4162aed2a04767e6bac8332b8f8fbacb42f1f1a3.tar.gz rapier-4162aed2a04767e6bac8332b8f8fbacb42f1f1a3.tar.bz2 rapier-4162aed2a04767e6bac8332b8f8fbacb42f1f1a3.zip | |
Add params.velocity_based_erp_inv_dt() helper
Diffstat (limited to 'src/dynamics/solver/velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index dff8ff0..b7c257a 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -147,6 +147,8 @@ impl VelocityConstraint { assert_eq!(manifold.data.relative_dominance, 0); let inv_dt = params.inv_dt(); + let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt(); + let rb1 = &bodies[manifold.data.body_pair.body1]; let rb2 = &bodies[manifold.data.body_pair.body2]; let mj_lambda1 = rb1.active_set_offset; @@ -250,10 +252,7 @@ impl VelocityConstraint { * (vel1 - vel2).dot(&force_dir1); rhs += manifold_point.dist.max(0.0) * inv_dt; rhs *= params.velocity_solve_fraction; - rhs += is_resting - * params.velocity_based_erp - * inv_dt - * manifold_point.dist.min(0.0); + rhs += is_resting * velocity_based_erp_inv_dt * manifold_point.dist.min(0.0); constraint.elements[k].normal_part = VelocityConstraintElementPart { gcross1, |