nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix some solver issues

Browse Source 
- 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
This commit is contained in:
Sébastien Crozet
2022-01-16 16:40:59 +01:00
parent 4454a845e9
commit 0703e5527f
43 changed files with 936 additions and 229 deletions
Download Patch File Download Diff File Expand all files Collapse all files

24
src/dynamics/solver/velocity_constraint.rs
View File

@@ -236,7 +236,7 @@ impl VelocityConstraint {
.transform_vector(dp2.gcross(-force_dir1));
let imsum = mprops1.effective_inv_mass + mprops2.effective_inv_mass;
let r = 1.0
let r = params.delassus_inv_factor
/ (force_dir1.dot(&imsum.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
@@ -246,8 +246,7 @@ impl VelocityConstraint {
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
@@ -275,17 +274,26 @@ impl VelocityConstraint {
.effective_world_inv_inertia_sqrt
.transform_vector(dp2.gcross(-tangents1[j]));
let imsum = mprops1.effective_inv_mass + mprops2.effective_inv_mass;
let r = 1.0
/ (tangents1[j].dot(&imsum.component_mul(&tangents1[j]))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
let r = tangents1[j].dot(&imsum.component_mul(&tangents1[j]))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2);
let rhs =
(vel1 - vel2 + manifold_point.tangent_velocity).dot(&tangents1[j]);
constraint.elements[k].tangent_part.gcross1[j] = gcross1;
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.gcross1[0]
.gdot(constraint.elements[k].tangent_part.gcross1[1])
+ constraint.elements[k].tangent_part.gcross2[0]
.gdot(constraint.elements[k].tangent_part.gcross2[1]));
}
}
}