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| author | Sébastien Crozet <sebcrozet@dimforge.com> | 2024-04-28 15:47:49 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2024-04-30 23:10:46 +0200 |
| commit | 5867d2e78d9cdd6b495d22346c4f59ac25ff6d1b (patch) | |
| tree | e8856aa4910713fdf3386f9cddbcad5b3e1f4339 /src/dynamics | |
| parent | 2678b08bf4a4884b90c23826395a00cb1f67abe7 (diff) | |
| download | rapier-5867d2e78d9cdd6b495d22346c4f59ac25ff6d1b.tar.gz rapier-5867d2e78d9cdd6b495d22346c4f59ac25ff6d1b.tar.bz2 rapier-5867d2e78d9cdd6b495d22346c4f59ac25ff6d1b.zip | |
fix: include the 0.5 factor in pseudo (mass-normalized) kinetic energy calculation
Diffstat (limited to 'src/dynamics')
| -rw-r--r-- | src/dynamics/rigid_body_components.rs | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/dynamics/rigid_body_components.rs b/src/dynamics/rigid_body_components.rs index c03233d..f5698a4 100644 --- a/src/dynamics/rigid_body_components.rs +++ b/src/dynamics/rigid_body_components.rs @@ -571,10 +571,11 @@ impl RigidBodyVelocity { /// The approximate kinetic energy of this rigid-body. /// /// This approximation does not take the rigid-body's mass and angular inertia - /// into account. + /// into account. Some physics engines call this the "mass-normalized kinetic + /// energy". #[must_use] pub fn pseudo_kinetic_energy(&self) -> Real { - self.linvel.norm_squared() + self.angvel.gdot(self.angvel) + 0.5 * (self.linvel.norm_squared() + self.angvel.gdot(self.angvel)) } /// Returns the update velocities after applying the given damping. |