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| author | Sébastien Crozet <developer@crozet.re> | 2020-08-31 19:02:37 +0200 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2020-08-31 19:05:14 +0200 |
| commit | c286f44c4e2aa1692781e9c4c7c1ce2bacdd2415 (patch) | |
| tree | f95d4acf8404253455e071acb177f1fd2d448228 /src/dynamics/solver/velocity_constraint.rs | |
| parent | df2156ffd02ea1b8c86e86f1d68c5e4e915e6d98 (diff) | |
| download | rapier-c286f44c4e2aa1692781e9c4c7c1ce2bacdd2415.tar.gz rapier-c286f44c4e2aa1692781e9c4c7c1ce2bacdd2415.tar.bz2 rapier-c286f44c4e2aa1692781e9c4c7c1ce2bacdd2415.zip | |
Constraint solver: properly take non-zero center of masses into account.
Diffstat (limited to 'src/dynamics/solver/velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 8 |
1 files changed, 3 insertions, 5 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 9212e89..eb80018 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -215,10 +215,8 @@ impl VelocityConstraint { for k in 0..manifold_points.len() { let manifold_point = &manifold_points[k]; - let dp1 = (rb1.position * manifold_point.local_p1).coords - - rb1.position.translation.vector; - let dp2 = (rb2.position * manifold_point.local_p2).coords - - rb2.position.translation.vector; + let dp1 = (rb1.position * manifold_point.local_p1) - rb1.world_com; + let dp2 = (rb2.position * manifold_point.local_p2) - rb2.world_com; let vel1 = rb1.linvel + rb1.angvel.gcross(dp1); let vel2 = rb2.linvel + rb2.angvel.gcross(dp2); @@ -355,7 +353,7 @@ impl VelocityConstraint { } } - // Solve penetration. + // Solve non-penetration. for i in 0..self.num_contacts as usize { let elt = &mut self.elements[i].normal_part; let dimpulse = self.dir1.dot(&mj_lambda1.linear) + elt.gcross1.gdot(mj_lambda1.angular) |