diff options
| author | Sébastien Crozet <developer@crozet.re> | 2022-03-13 15:28:33 +0100 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2022-03-20 21:49:16 +0100 |
| commit | 1535db87c7e21065dfbc736ffe5927810d37fe75 (patch) | |
| tree | f7ee534b0601b6ca6eeee2d6404610312d072b7e /src/dynamics/solver/velocity_constraint_wide.rs | |
| parent | 34b0d51455cbeba16dd5bacb451e476efb591518 (diff) | |
| download | rapier-1535db87c7e21065dfbc736ffe5927810d37fe75.tar.gz rapier-1535db87c7e21065dfbc736ffe5927810d37fe75.tar.bz2 rapier-1535db87c7e21065dfbc736ffe5927810d37fe75.zip | |
Add a max penetration correction integration parameter
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index 1fb9397..0c85755 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -49,6 +49,7 @@ impl WVelocityConstraint { let inv_dt = SimdReal::splat(params.inv_dt()); let allowed_lin_err = SimdReal::splat(params.allowed_linear_error); let erp_inv_dt = SimdReal::splat(params.erp_inv_dt()); + let max_penetration_correction = SimdReal::splat(params.max_penetration_correction); let handles1 = gather![|ii| manifolds[ii].data.rigid_body1.unwrap()]; let handles2 = gather![|ii| manifolds[ii].data.rigid_body2.unwrap()]; @@ -145,7 +146,8 @@ impl WVelocityConstraint { (SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity; rhs_wo_bias += dist.simd_max(SimdReal::zero()) * inv_dt; rhs_wo_bias *= is_bouncy + is_resting; - let rhs_bias = (dist + allowed_lin_err).simd_min(SimdReal::zero()) + let rhs_bias = (dist + allowed_lin_err) + .simd_clamp(-max_penetration_correction, SimdReal::zero()) * (erp_inv_dt/* * is_resting */); constraint.elements[k].normal_part = VelocityConstraintNormalPart { |