diff options
Diffstat (limited to 'src/dynamics/solver/joint_constraint/revolute_position_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/revolute_position_constraint.rs | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs index e46e0e4..19dd451 100644 --- a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs @@ -26,10 +26,10 @@ pub(crate) struct RevolutePositionConstraint { impl RevolutePositionConstraint { pub fn from_params(rb1: &RigidBody, rb2: &RigidBody, cparams: &RevoluteJoint) -> Self { - let ii1 = rb1.world_inv_inertia_sqrt.squared(); - let ii2 = rb2.world_inv_inertia_sqrt.squared(); - let im1 = rb1.mass_properties.inv_mass; - let im2 = rb2.mass_properties.inv_mass; + let ii1 = rb1.effective_world_inv_inertia_sqrt.squared(); + let ii2 = rb2.effective_world_inv_inertia_sqrt.squared(); + let im1 = rb1.effective_inv_mass; + let im2 = rb2.effective_inv_mass; let lin_inv_lhs = 1.0 / (im1 + im2); let ang_inv_lhs = (ii1 + ii2).inverse(); |