diff options
| author | Sébastien Crozet <developer@crozet.re> | 2022-01-23 16:50:02 +0100 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-01-23 16:50:26 +0100 |
| commit | 78c8bc6cdef26d14c57d0eeb23188cba592961bf (patch) | |
| tree | b26951b1b08c66171e172237dfce6024792b36e9 /src/dynamics/solver/velocity_constraint_element.rs | |
| parent | b7bf80550d8cc61637a251aa2ba0e6cdb8d26b74 (diff) | |
| download | rapier-78c8bc6cdef26d14c57d0eeb23188cba592961bf.tar.gz rapier-78c8bc6cdef26d14c57d0eeb23188cba592961bf.tar.bz2 rapier-78c8bc6cdef26d14c57d0eeb23188cba592961bf.zip | |
Improve cfm configuration using the critical damping factor
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_element.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_element.rs | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_constraint_element.rs b/src/dynamics/solver/velocity_constraint_element.rs index b0f8087..2d2221d 100644 --- a/src/dynamics/solver/velocity_constraint_element.rs +++ b/src/dynamics/solver/velocity_constraint_element.rs @@ -131,6 +131,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> { #[inline] pub fn solve( &mut self, + cfm_factor: N, dir1: &Vector<N>, im1: &Vector<N>, im2: &Vector<N>, @@ -143,7 +144,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> { - dir1.dot(&mj_lambda2.linear) + self.gcross2.gdot(mj_lambda2.angular) + self.rhs; - let new_impulse = (self.impulse - self.r * dvel).simd_max(N::zero()); + let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero()); let dlambda = new_impulse - self.impulse; self.impulse = new_impulse; @@ -171,6 +172,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintElement<N> { #[inline] pub fn solve_group( + cfm_factor: N, elements: &mut [Self], dir1: &Vector<N>, #[cfg(feature = "dim3")] tangent1: &Vector<N>, @@ -191,7 +193,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintElement<N> { for element in elements.iter_mut() { element .normal_part - .solve(&dir1, im1, im2, mj_lambda1, mj_lambda2); + .solve(cfm_factor, &dir1, im1, im2, mj_lambda1, mj_lambda2); } } |