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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_ground_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_ground_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 457c3b3..65a61bd 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -155,8 +155,8 @@ impl VelocityGroundConstraint { rb2.position * manifold_point.local_p2, ) }; - let dp2 = p2.coords - rb2.position.translation.vector; - let dp1 = p1.coords - rb1.position.translation.vector; + let dp2 = p2 - rb2.world_com; + let dp1 = p1 - rb1.world_com; let vel1 = rb1.linvel + rb1.angvel.gcross(dp1); let vel2 = rb2.linvel + rb2.angvel.gcross(dp2); |