diff options
Diffstat (limited to 'src/dynamics/solver/velocity_solver.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_solver.rs | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index dfb97b0..89cf34e 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -60,7 +60,9 @@ impl VelocitySolver { bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| { let dvel = self.mj_lambdas[rb.active_set_offset]; rb.linvel += dvel.linear; - rb.angvel += rb.world_inv_inertia_sqrt.transform_vector(dvel.angular); + rb.angvel += rb + .effective_world_inv_inertia_sqrt + .transform_vector(dvel.angular); }); // Write impulses back into the manifold structures. |