diff options
Diffstat (limited to 'src/dynamics')
| -rw-r--r-- | src/dynamics/integration_parameters.rs | 15 | ||||
| -rw-r--r-- | src/dynamics/rigid_body_set.rs | 2 |
2 files changed, 13 insertions, 4 deletions
diff --git a/src/dynamics/integration_parameters.rs b/src/dynamics/integration_parameters.rs index 2de58ae..f475fd4 100644 --- a/src/dynamics/integration_parameters.rs +++ b/src/dynamics/integration_parameters.rs @@ -181,7 +181,12 @@ impl IntegrationParameters { /// [`Self::contact_damping_ratio`] and the substep length. pub fn contact_cfm_factor(&self) -> Real { // Compute CFM assuming a critically damped spring multiplied by the damping ratio. - let inv_erp_minus_one = 1.0 / self.contact_erp() - 1.0; + // The logic is similar to [`Self::joint_cfm_coeff`]. + let contact_erp = self.contact_erp(); + if contact_erp == 0.0 { + return 0.0; + } + let inv_erp_minus_one = 1.0 / contact_erp - 1.0; // let stiffness = 4.0 * damping_ratio * damping_ratio * projected_mass // / (dt * dt * inv_erp_minus_one * inv_erp_minus_one); @@ -220,8 +225,12 @@ impl IntegrationParameters { /// [`Self::joint_damping_ratio`] and the substep length. pub fn joint_cfm_coeff(&self) -> Real { // Compute CFM assuming a critically damped spring multiplied by the damping ratio. - // The logic is similar to `Self::cfm_factor`. - let inv_erp_minus_one = 1.0 / self.joint_erp() - 1.0; + // The logic is similar to `Self::contact_cfm_factor`. + let joint_erp = self.joint_erp(); + if joint_erp == 0.0 { + return 0.0; + } + let inv_erp_minus_one = 1.0 / joint_erp - 1.0; inv_erp_minus_one * inv_erp_minus_one / ((1.0 + inv_erp_minus_one) * 4.0 diff --git a/src/dynamics/rigid_body_set.rs b/src/dynamics/rigid_body_set.rs index a7d2ec3..2ef91be 100644 --- a/src/dynamics/rigid_body_set.rs +++ b/src/dynamics/rigid_body_set.rs @@ -23,7 +23,7 @@ impl BodyPair { } #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] -#[derive(Clone, Default)] +#[derive(Clone, Default, Debug)] /// A set of rigid bodies that can be handled by a physics pipeline. pub struct RigidBodySet { // NOTE: the pub(crate) are needed by the broad phase |