diff options
Diffstat (limited to 'src/dynamics/solver')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs index 17eb3c3..9d64193 100644 --- a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs @@ -195,9 +195,9 @@ impl PrismaticVelocityConstraint { } if damping != 0.0 { - let curr_vel = rb2.linvel.dot(&axis2) + rb2.angvel.dot(&gcross2) + let curr_vel = rb2.linvel.dot(&axis2) + rb2.angvel.gdot(gcross2) - rb1.linvel.dot(&axis1) - - rb1.angvel.dot(&gcross1); + - rb1.angvel.gdot(gcross1); motor_rhs += (curr_vel - joint.motor_target_vel) * damping; } |