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Fix reported contact impulse in the contact force event

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Address https://github.com/dimforge/rapier.js/issues/261
This commit is contained in:
Sébastien Crozet
2024-03-23 16:00:19 +01:00
committed by Sébastien Crozet
parent 59dc9bfe00
commit 09af4313fa
8 changed files with 80 additions and 40 deletions
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14
src/dynamics/solver/contact_constraint/one_body_constraint.rs
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@@ -149,7 +149,7 @@ impl OneBodyConstraintBuilder {
rhs: na::zero(),
rhs_wo_bias: na::zero(),
impulse: na::zero(),
total_impulse: na::zero(),
impulse_accumulator: na::zero(),
r: projected_mass,
};
}
@@ -270,18 +270,17 @@ impl OneBodyConstraintBuilder {
* (dist + params.allowed_linear_error)
.clamp(-params.max_penetration_correction, 0.0);
let new_rhs = rhs_wo_bias + rhs_bias;
let total_impulse = element.normal_part.total_impulse + element.normal_part.impulse;
is_fast_contact = is_fast_contact || (-new_rhs * params.dt > ccd_thickness * 0.5);
element.normal_part.rhs_wo_bias = rhs_wo_bias;
element.normal_part.rhs = new_rhs;
element.normal_part.total_impulse = total_impulse;
element.normal_part.impulse_accumulator += element.normal_part.impulse;
element.normal_part.impulse = na::zero();
}
// Tangent part.
{
element.tangent_part.total_impulse += element.tangent_part.impulse;
element.tangent_part.impulse_accumulator += element.tangent_part.impulse;
element.tangent_part.impulse = na::zero();
for j in 0..DIM - 1 {
@@ -359,15 +358,16 @@ impl OneBodyConstraint {
for k in 0..self.num_contacts as usize {
let contact_id = self.manifold_contact_id[k];
let active_contact = &mut manifold.points[contact_id as usize];
active_contact.data.impulse = self.elements[k].normal_part.impulse;
active_contact.data.impulse = self.elements[k].normal_part.total_impulse();
#[cfg(feature = "dim2")]
{
active_contact.data.tangent_impulse = self.elements[k].tangent_part.impulse[0];
active_contact.data.tangent_impulse =
self.elements[k].tangent_part.total_impulse()[0];
}
#[cfg(feature = "dim3")]
{
active_contact.data.tangent_impulse = self.elements[k].tangent_part.impulse;
active_contact.data.tangent_impulse = self.elements[k].tangent_part.total_impulse();
}
}
}