From 1bef66fea941307a7305ddaebdb0abe3d0cb281f Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 25 May 2021 11:00:13 +0200 Subject: Add prelude + use vectors for setting linvel/translation in builders --- .../solver/joint_constraint/fixed_velocity_constraint.rs | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) (limited to 'src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs') diff --git a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs index a0c0739..8bfc1a6 100644 --- a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs @@ -63,8 +63,8 @@ impl FixedVelocityConstraint { let (poss1, vels1, mprops1, ids1) = rb1; let (poss2, vels2, mprops2, ids2) = rb2; - let anchor1 = poss1.position * cparams.local_anchor1; - let anchor2 = poss2.position * cparams.local_anchor2; + let anchor1 = poss1.position * cparams.local_frame1; + let anchor2 = poss2.position * cparams.local_frame2; let im1 = mprops1.effective_inv_mass; let im2 = mprops2.effective_inv_mass; let ii1 = mprops1.effective_world_inv_inertia_sqrt.squared(); @@ -280,13 +280,13 @@ impl FixedVelocityGroundConstraint { let (anchor1, anchor2) = if flipped { ( - poss1.position * cparams.local_anchor2, - poss2.position * cparams.local_anchor1, + poss1.position * cparams.local_frame2, + poss2.position * cparams.local_frame1, ) } else { ( - poss1.position * cparams.local_anchor1, - poss2.position * cparams.local_anchor2, + poss1.position * cparams.local_frame1, + poss2.position * cparams.local_frame2, ) }; -- cgit