From 9bbb0815397c48f6fa19421a127a77447f279a4b Mon Sep 17 00:00:00 2001 From: Emil Ernerfeldt Date: Tue, 23 Feb 2021 17:41:03 +0100 Subject: fix narrow revolute velocity --- .../solver/joint_constraint/revolute_velocity_constraint.rs | 11 +++++------ 1 file changed, 5 insertions(+), 6 deletions(-) (limited to 'src') diff --git a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs index 15869e2..839cddc 100644 --- a/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs @@ -108,9 +108,8 @@ impl RevoluteVelocityConstraint { let axis1 = rb1.position * joint.local_axis1; let axis2 = rb2.position * joint.local_axis2; - let ang_err = - Rotation::rotation_between_axis(&axis1, &axis2).unwrap_or_else(Rotation::identity); - let ang_err = ang_err.scaled_axis(); + let axis_error = axis1.cross(&axis2); + let ang_err = basis2.tr_mul(&axis_error) - basis1.tr_mul(&axis_error); rhs += Vector5::new(lin_err.x, lin_err.y, lin_err.z, ang_err.x, ang_err.y) * velocity_based_erp_inv_dt; @@ -416,9 +415,8 @@ impl RevoluteVelocityGroundConstraint { axis1 = rb1.position * joint.local_axis1; axis2 = rb2.position * joint.local_axis2; } - let ang_err = - Rotation::rotation_between_axis(&axis1, &axis2).unwrap_or_else(Rotation::identity); - let ang_err = ang_err.scaled_axis(); + let axis_error = axis1.cross(&axis2); + let ang_err = basis2.tr_mul(&axis_error); rhs += Vector5::new(lin_err.x, lin_err.y, lin_err.z, ang_err.x, ang_err.y) * velocity_based_erp_inv_dt; @@ -521,6 +519,7 @@ impl RevoluteVelocityGroundConstraint { .ii2_sqrt .transform_vector(ang_impulse + self.r2.gcross(lin_impulse)); } + fn solve_motors(&mut self, mj_lambda2: &mut DeltaVel) { if self.motor_inv_lhs != 0.0 { let ang_vel2 = self.ii2_sqrt.transform_vector(mj_lambda2.angular); -- cgit