diff options
Diffstat (limited to 'src/dynamics/solver/velocity_ground_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint_wide.rs | 7 |
1 files changed, 5 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs index ec9e186..af2e1e9 100644 --- a/src/dynamics/solver/velocity_ground_constraint_wide.rs +++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs @@ -89,6 +89,9 @@ impl WVelocityGroundConstraint { let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]); let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]); + let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]); + let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]); + let force_dir1 = position1 * -Vector::from( array![|ii| if flipped[ii] { manifolds[ii].local_n2 } else { manifolds[ii].local_n1 }; SIMD_WIDTH], @@ -130,8 +133,8 @@ impl WVelocityGroundConstraint { let impulse = SimdFloat::from(array![|ii| manifold_points[ii][k].impulse; SIMD_WIDTH]); - let dp1 = p1.coords - position1.translation.vector; - let dp2 = p2.coords - position2.translation.vector; + let dp1 = p1 - world_com1; + let dp2 = p2 - world_com2; let vel1 = linvel1 + angvel1.gcross(dp1); let vel2 = linvel2 + angvel2.gcross(dp2); |