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Diffstat (limited to 'src/dynamics/solver/velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 63139cc..3a751df 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -273,7 +273,8 @@ impl VelocityConstraint { + rb2.effective_inv_mass + gcross1.gdot(gcross1) + gcross2.gdot(gcross2)); - let rhs = (vel1 - vel2).dot(&tangents1[j]); + let rhs = + (vel1 - vel2 + manifold_point.tangent_velocity).dot(&tangents1[j]); #[cfg(feature = "dim2")] let impulse = manifold_point.data.tangent_impulse * warmstart_coeff; #[cfg(feature = "dim3")] @@ -391,7 +392,7 @@ impl VelocityConstraint { active_contact.data.impulse = self.elements[k].normal_part.impulse; #[cfg(feature = "dim2")] { - active_contacts.data.tangent_impulse = self.elements[k].tangent_part[0].impulse; + active_contact.data.tangent_impulse = self.elements[k].tangent_part[0].impulse; } #[cfg(feature = "dim3")] { |