From 8f330b2a00610e5b68c1acd9208120e8f750c7aa Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 21 Jan 2021 14:58:40 +0100 Subject: Rotation locking: apply filter only to the world inertia properties to fix the multi-collider case. --- src/dynamics/solver/velocity_ground_constraint_wide.rs | 7 ++++--- 1 file changed, 4 insertions(+), 3 deletions(-) (limited to 'src/dynamics/solver/velocity_ground_constraint_wide.rs') diff --git a/src/dynamics/solver/velocity_ground_constraint_wide.rs b/src/dynamics/solver/velocity_ground_constraint_wide.rs index 1c85a90..c2d2c4f 100644 --- a/src/dynamics/solver/velocity_ground_constraint_wide.rs +++ b/src/dynamics/solver/velocity_ground_constraint_wide.rs @@ -75,9 +75,10 @@ impl WVelocityGroundConstraint { } } - let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]); - let ii2: AngularInertia = - AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]); + let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]); + let ii2: AngularInertia = AngularInertia::from( + array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH], + ); let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]); let angvel1 = AngVector::::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]); -- cgit