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Add a max penetration correction integration parameter

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Sébastien Crozet
2022-03-13 15:28:33 +01:00
committed by Sébastien Crozet
parent 34b0d51455
commit 1535db87c7
8 changed files with 22 additions and 6 deletions
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2
src/dynamics/solver/generic_velocity_ground_constraint.rs
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@@ -148,7 +148,7 @@ impl GenericVelocityGroundConstraint {
rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
rhs_wo_bias *= is_bouncy + is_resting;
let rhs_bias =
/* is_resting * */ erp_inv_dt * manifold_point.dist.min(0.0);
/* is_resting * */ erp_inv_dt * manifold_point.dist.clamp(-params.max_penetration_correction, 0.0);
constraint.elements[k].normal_part = VelocityGroundConstraintNormalPart {
gcross2: na::zero(), // Unused for generic constraints.