From a4fe46b5c48050e9fdd2b9af362d36af6bd9b7d4 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 13 Apr 2021 13:42:18 +0200 Subject: Fix compilation in 2D. --- src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/dynamics') diff --git a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs index 17eb3c3..9d64193 100644 --- a/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/prismatic_velocity_constraint.rs @@ -195,9 +195,9 @@ impl PrismaticVelocityConstraint { } if damping != 0.0 { - let curr_vel = rb2.linvel.dot(&axis2) + rb2.angvel.dot(&gcross2) + let curr_vel = rb2.linvel.dot(&axis2) + rb2.angvel.gdot(gcross2) - rb1.linvel.dot(&axis1) - - rb1.angvel.dot(&gcross1); + - rb1.angvel.gdot(gcross1); motor_rhs += (curr_vel - joint.motor_target_vel) * damping; } -- cgit