diff options
Diffstat (limited to 'src/dynamics/solver/joint_constraint')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs | 18 |
1 files changed, 8 insertions, 10 deletions
diff --git a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs index db33fde..dc7569c 100644 --- a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs @@ -104,13 +104,12 @@ impl FixedVelocityConstraint { #[cfg(feature = "dim2")] let mut rhs = - params.velocity_solve_fraction * Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel); + Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel) * params.velocity_solve_fraction; #[cfg(feature = "dim3")] - let mut rhs = params.velocity_solve_fraction - * Vector6::new( - lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z, - ); + let mut rhs = Vector6::new( + lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z, + ) * params.velocity_solve_fraction; let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt(); if velocity_based_erp_inv_dt != 0.0 { @@ -316,12 +315,11 @@ impl FixedVelocityGroundConstraint { #[cfg(feature = "dim2")] let mut rhs = - params.velocity_solve_fraction * Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel); + Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel) * params.velocity_solve_fraction; #[cfg(feature = "dim3")] - let mut rhs = params.velocity_solve_fraction - * Vector6::new( - lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z, - ); + let mut rhs = Vector6::new( + lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z, + ) * params.velocity_solve_fraction; let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt(); if velocity_based_erp_inv_dt != 0.0 { |