Add a max penetration correction integration parameter

2022-03-13 15:28:33 +01:00
parent 34b0d51455
commit 1535db87c7
8 changed files with 22 additions and 6 deletions
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -283,7 +283,7 @@ impl VelocityConstraint {
                    rhs_wo_bias *= is_bouncy + is_resting;
                    let rhs_bias = /* is_resting
                        * */  erp_inv_dt
-                        * (manifold_point.dist + params.allowed_linear_error).min(0.0);
+                        * (manifold_point.dist + params.allowed_linear_error).clamp(-params.max_penetration_correction, 0.0);
                    constraint.elements[k].normal_part = VelocityConstraintNormalPart {
                        gcross1,
                        gcross2,