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| author | Sébastien Crozet <developer@crozet.re> | 2022-01-08 21:09:11 +0100 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-01-08 21:09:11 +0100 |
| commit | 87ec0ced4031633e9084ee2f60d47c4cd57f7f7b (patch) | |
| tree | 50a37237833b6fa9bcfec2c1b34f28f92fcce96a /src/dynamics/solver | |
| parent | 9726738cd2558bc23ff48b1d5835eff8b0e59c83 (diff) | |
| download | rapier-87ec0ced4031633e9084ee2f60d47c4cd57f7f7b.tar.gz rapier-87ec0ced4031633e9084ee2f60d47c4cd57f7f7b.tar.bz2 rapier-87ec0ced4031633e9084ee2f60d47c4cd57f7f7b.zip | |
Address issues with the genral-case for multibody joints
Diffstat (limited to 'src/dynamics/solver')
| -rw-r--r-- | src/dynamics/solver/island_solver.rs | 4 | ||||
| -rw-r--r-- | src/dynamics/solver/velocity_solver.rs | 4 |
2 files changed, 4 insertions, 4 deletions
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index a862480..aeb2698 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -132,8 +132,8 @@ impl IslandSolver { if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic { let accels = &multibody.accelerations; multibody.velocities.axpy(params.dt, accels, 1.0); - multibody.integrate_next(params.dt); - multibody.forward_kinematics_next(bodies, false); + multibody.integrate(params.dt); + multibody.forward_kinematics(bodies, false); } } else { // Since we didn't run the velocity solver we need to integrate the accelerations here diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index 9ecdbfb..ed1fe3a 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -145,8 +145,8 @@ impl VelocitySolver { .rows(multibody.solver_id, multibody.ndofs()); let prev_vels = multibody.velocities.clone(); // FIXME: avoid allocations. multibody.velocities += mj_lambdas; - multibody.integrate_next(params.dt); - multibody.forward_kinematics_next(bodies, false); + multibody.integrate(params.dt); + multibody.forward_kinematics(bodies, false); if params.max_stabilization_iterations > 0 { multibody.velocities = prev_vels; |