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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_wide.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_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index b86e6a6..a8384de 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -71,18 +71,20 @@ impl WVelocityConstraint { let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH]; let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH]; - let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]); - let ii1: AngularInertia<SimdReal> = - AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]); + let im1 = SimdReal::from(array![|ii| rbs1[ii].effective_inv_mass; SIMD_WIDTH]); + let ii1: AngularInertia<SimdReal> = AngularInertia::from( + array![|ii| rbs1[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH], + ); let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]); let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]); let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]); - let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]); - let ii2: AngularInertia<SimdReal> = - AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]); + let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]); + let ii2: AngularInertia<SimdReal> = AngularInertia::from( + array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH], + ); let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]); let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]); |