From 96ecb877e290ad15459258a415aca64ca4af3a69 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 24 Feb 2021 13:26:51 +0100 Subject: Implement dominance. --- src/dynamics/solver/position_ground_constraint.rs | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/dynamics/solver/position_ground_constraint.rs') diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs index 4ab07eb..e1a4016 100644 --- a/src/dynamics/solver/position_ground_constraint.rs +++ b/src/dynamics/solver/position_ground_constraint.rs @@ -30,7 +30,7 @@ impl PositionGroundConstraint { ) { let mut rb1 = &bodies[manifold.data.body_pair.body1]; let mut rb2 = &bodies[manifold.data.body_pair.body2]; - let flip = !rb2.is_dynamic(); + let flip = manifold.data.relative_dominance < 0; let n1 = if flip { std::mem::swap(&mut rb1, &mut rb2); -- cgit