diff options
Diffstat (limited to 'src/dynamics/solver/velocity_ground_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint_wide.rs | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs index 908e55f..1889901 100644 --- a/src/dynamics/solver/velocity_ground_constraint_wide.rs +++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs @@ -44,6 +44,7 @@ impl WVelocityGroundConstraint { let inv_dt = SimdReal::splat(params.inv_dt()); let allowed_lin_err = SimdReal::splat(params.allowed_linear_error); let erp_inv_dt = SimdReal::splat(params.erp_inv_dt()); + let max_penetration_correction = SimdReal::splat(params.max_penetration_correction); let mut handles1 = gather![|ii| manifolds[ii].data.rigid_body1]; let mut handles2 = gather![|ii| manifolds[ii].data.rigid_body2]; @@ -150,7 +151,8 @@ impl WVelocityGroundConstraint { (SimdReal::splat(1.0) + is_bouncy * restitution) * projected_velocity; rhs_wo_bias += dist.simd_max(SimdReal::zero()) * inv_dt; rhs_wo_bias *= is_bouncy + is_resting; - let rhs_bias = (dist + allowed_lin_err).simd_min(SimdReal::zero()) + let rhs_bias = (dist + allowed_lin_err) + .simd_clamp(-max_penetration_correction, SimdReal::zero()) * (erp_inv_dt/* * is_resting */); constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart { |