diff options
Diffstat (limited to 'src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs index cb95532..a110fbb 100644 --- a/src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs @@ -210,7 +210,8 @@ impl BallVelocityConstraint { let new_impulse = self.motor_impulse + motor_inv_lhs.transform_vector(dangvel); #[cfg(feature = "dim2")] - let clamped_impulse = na::clamp(new_impulse, -motor_max_impulse, motor_max_impulse); + let clamped_impulse = + na::clamp(new_impulse, -self.motor_max_impulse, self.motor_max_impulse); #[cfg(feature = "dim3")] let clamped_impulse = new_impulse.cap_magnitude(self.motor_max_impulse); @@ -418,7 +419,8 @@ impl BallVelocityGroundConstraint { let new_impulse = self.motor_impulse + motor_inv_lhs.transform_vector(dangvel); #[cfg(feature = "dim2")] - let clamped_impulse = na::clamp(new_impulse, -motor_max_impulse, motor_max_impulse); + let clamped_impulse = + na::clamp(new_impulse, -self.motor_max_impulse, self.motor_max_impulse); #[cfg(feature = "dim3")] let clamped_impulse = new_impulse.cap_magnitude(self.motor_max_impulse); |