diff options
Diffstat (limited to 'src/dynamics/solver/joint_constraint/ball_position_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/ball_position_constraint.rs | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/src/dynamics/solver/joint_constraint/ball_position_constraint.rs b/src/dynamics/solver/joint_constraint/ball_position_constraint.rs index 8bc9072..744c00d 100644 --- a/src/dynamics/solver/joint_constraint/ball_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/ball_position_constraint.rs @@ -27,10 +27,10 @@ impl BallPositionConstraint { Self { local_com1: rb1.mass_properties.local_com, local_com2: rb2.mass_properties.local_com, - im1: rb1.mass_properties.inv_mass, - im2: rb2.mass_properties.inv_mass, - ii1: rb1.world_inv_inertia_sqrt.squared(), - ii2: rb2.world_inv_inertia_sqrt.squared(), + im1: rb1.effective_inv_mass, + im2: rb2.effective_inv_mass, + ii1: rb1.effective_world_inv_inertia_sqrt.squared(), + ii2: rb2.effective_world_inv_inertia_sqrt.squared(), local_anchor1: cparams.local_anchor1, local_anchor2: cparams.local_anchor2, position1: rb1.active_set_offset, @@ -115,8 +115,8 @@ impl BallPositionGroundConstraint { // already been flipped by the caller. Self { anchor1: rb1.predicted_position * cparams.local_anchor2, - im2: rb2.mass_properties.inv_mass, - ii2: rb2.world_inv_inertia_sqrt.squared(), + im2: rb2.effective_inv_mass, + ii2: rb2.effective_world_inv_inertia_sqrt.squared(), local_anchor2: cparams.local_anchor1, position2: rb2.active_set_offset, local_com2: rb2.mass_properties.local_com, @@ -124,8 +124,8 @@ impl BallPositionGroundConstraint { } else { Self { anchor1: rb1.predicted_position * cparams.local_anchor1, - im2: rb2.mass_properties.inv_mass, - ii2: rb2.world_inv_inertia_sqrt.squared(), + im2: rb2.effective_inv_mass, + ii2: rb2.effective_world_inv_inertia_sqrt.squared(), local_anchor2: cparams.local_anchor2, position2: rb2.active_set_offset, local_com2: rb2.mass_properties.local_com, |