From 0703e5527fd95d86bb6621e61dbcb1a6e7f9329a Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 16 Jan 2022 16:40:59 +0100 Subject: Fix some solver issues - Fix the wrong codepath taken by the solver for contacts involving a collider without parent. - Properly adress the non-linear treatment of the friction direction - Simplify the sleeping strategy - Add an impulse resolution multiplier --- src/dynamics/solver/velocity_ground_constraint.rs | 22 ++++++++++++++-------- 1 file changed, 14 insertions(+), 8 deletions(-) (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 bd60633..76de3f9 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -153,7 +153,7 @@ impl VelocityGroundConstraint { .effective_world_inv_inertia_sqrt .transform_vector(dp2.gcross(-force_dir1)); - let r = 1.0 + let r = params.delassus_inv_factor / (force_dir1.dot(&mprops2.effective_inv_mass.component_mul(&force_dir1)) + gcross2.gdot(gcross2)); @@ -162,8 +162,7 @@ impl VelocityGroundConstraint { let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1); - rhs_wo_bias += - (manifold_point.dist + params.allowed_linear_error).max(0.0) * inv_dt; + rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt; rhs_wo_bias *= is_bouncy + is_resting * params.velocity_solve_fraction; let rhs_bias = /* is_resting * */ erp_inv_dt @@ -186,17 +185,24 @@ impl VelocityGroundConstraint { let gcross2 = mprops2 .effective_world_inv_inertia_sqrt .transform_vector(dp2.gcross(-tangents1[j])); - let r = 1.0 - / (tangents1[j] - .dot(&mprops2.effective_inv_mass.component_mul(&tangents1[j])) - + gcross2.gdot(gcross2)); + let r = tangents1[j] + .dot(&mprops2.effective_inv_mass.component_mul(&tangents1[j])) + + gcross2.gdot(gcross2); let rhs = (vel1 - vel2 + flipped_multiplier * manifold_point.tangent_velocity) .dot(&tangents1[j]); constraint.elements[k].tangent_part.gcross2[j] = gcross2; constraint.elements[k].tangent_part.rhs[j] = rhs; - constraint.elements[k].tangent_part.r[j] = r; + constraint.elements[k].tangent_part.r[j] = + if cfg!(feature = "dim2") { 1.0 / r } else { r }; + } + + #[cfg(feature = "dim3")] + { + constraint.elements[k].tangent_part.r[2] = 2.0 + * constraint.elements[k].tangent_part.gcross2[0] + .gdot(constraint.elements[k].tangent_part.gcross2[1]); } } } -- cgit