From 1535db87c7e21065dfbc736ffe5927810d37fe75 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 13 Mar 2022 15:28:33 +0100
Subject: Add a max penetration correction integration parameter

---
 src/dynamics/solver/velocity_ground_constraint.rs | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

(limited to 'src/dynamics/solver/velocity_ground_constraint.rs')

diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs
index 04acc88..93da6dc 100644
--- a/src/dynamics/solver/velocity_ground_constraint.rs
+++ b/src/dynamics/solver/velocity_ground_constraint.rs
@@ -167,7 +167,7 @@ impl VelocityGroundConstraint {
                     rhs_wo_bias *= is_bouncy + is_resting;
                     let rhs_bias = /* is_resting
                         * */ erp_inv_dt
-                        * (manifold_point.dist + params.allowed_linear_error).min(0.0);
+                        * (manifold_point.dist + params.allowed_linear_error).clamp(-params.max_penetration_correction, 0.0);
 
                     constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
                         gcross2,
-- 
cgit