diff options
Diffstat (limited to 'src/dynamics/solver/velocity_ground_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint.rs | 13 |
1 files changed, 5 insertions, 8 deletions
diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 20642ec..88f864a 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -154,15 +154,12 @@ impl VelocityGroundConstraint { let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2)); - let mut rhs = (vel1 - vel2).dot(&force_dir1); + let is_bouncy = manifold_point.is_bouncy() as u32 as Real; + let rhs = (1.0 + is_bouncy * manifold_point.restitution) + * (vel1 - vel2).dot(&force_dir1) + + manifold_point.dist.max(0.0) * inv_dt; - if rhs <= -params.restitution_velocity_threshold { - rhs += manifold_point.restitution * rhs - } - - rhs += manifold_point.dist.max(0.0) * inv_dt; - - let impulse = manifold_points[k].data.impulse * warmstart_coeff; + let impulse = manifold_point.data.impulse * warmstart_coeff; constraint.elements[k].normal_part = VelocityGroundConstraintElementPart { gcross2, |