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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_solver.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_solver.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_solver.rs | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index dfb97b0..89cf34e 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -60,7 +60,9 @@ impl VelocitySolver { bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| { let dvel = self.mj_lambdas[rb.active_set_offset]; rb.linvel += dvel.linear; - rb.angvel += rb.world_inv_inertia_sqrt.transform_vector(dvel.angular); + rb.angvel += rb + .effective_world_inv_inertia_sqrt + .transform_vector(dvel.angular); }); // Write impulses back into the manifold structures. |