diff options
Diffstat (limited to 'src/dynamics/solver/velocity_ground_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint.rs | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 37d4e3a..7ea4fbb 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -87,7 +87,7 @@ impl VelocityGroundConstraint { let mut constraint = VelocityGroundConstraint { dir1: force_dir1, elements: [VelocityGroundConstraintElement::zero(); MAX_MANIFOLD_POINTS], - im2: rb2.mass_properties.inv_mass, + im2: rb2.effective_inv_mass, limit: 0.0, mj_lambda2, manifold_id, @@ -128,7 +128,7 @@ impl VelocityGroundConstraint { #[cfg(target_arch = "wasm32")] { constraint.dir1 = force_dir1; - constraint.im2 = rb2.mass_properties.inv_mass; + constraint.im2 = rb2.effective_inv_mass; constraint.limit = manifold.data.friction; constraint.mj_lambda2 = mj_lambda2; constraint.manifold_id = manifold_id; @@ -148,10 +148,10 @@ impl VelocityGroundConstraint { // Normal part. { let gcross2 = rb2 - .world_inv_inertia_sqrt + .effective_world_inv_inertia_sqrt .transform_vector(dp2.gcross(-force_dir1)); - let r = 1.0 / (rb2.mass_properties.inv_mass + gcross2.gdot(gcross2)); + let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2)); let mut rhs = (vel1 - vel2).dot(&force_dir1); @@ -177,9 +177,9 @@ impl VelocityGroundConstraint { for j in 0..DIM - 1 { let gcross2 = rb2 - .world_inv_inertia_sqrt + .effective_world_inv_inertia_sqrt .transform_vector(dp2.gcross(-tangents1[j])); - let r = 1.0 / (rb2.mass_properties.inv_mass + gcross2.gdot(gcross2)); + let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2)); let rhs = -vel2.dot(&tangents1[j]) + vel1.dot(&tangents1[j]); #[cfg(feature = "dim2")] let impulse = manifold_points[k].data.tangent_impulse * warmstart_coeff; |