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Fix the application of damping to bodies part of an active island

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This commit is contained in:
Sébastien Crozet
2022-01-28 20:28:49 +01:00
parent 71bb25acf8
commit 3e25e3efba
1 changed files with 7 additions and 2 deletions
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9
src/dynamics/solver/velocity_solver.rs
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@@ -261,17 +261,22 @@ impl VelocitySolver {
multibody.velocities += mj_lambdas; multibody.velocities += mj_lambdas;
} }
} else { } else {
let (ids, mprops): (&RigidBodyIds, &RigidBodyMassProps) = let (ids, damping, mprops): (
bodies.index_bundle(handle.0); &RigidBodyIds,
&RigidBodyDamping,
&RigidBodyMassProps,
) = bodies.index_bundle(handle.0);
let dvel = self.mj_lambdas[ids.active_set_offset]; let dvel = self.mj_lambdas[ids.active_set_offset];
let dangvel = mprops let dangvel = mprops
.effective_world_inv_inertia_sqrt .effective_world_inv_inertia_sqrt
.transform_vector(dvel.angular); .transform_vector(dvel.angular);
let damping = *damping; // To avoid borrow issues.
bodies.map_mut_internal(handle.0, |vels: &mut RigidBodyVelocity| { bodies.map_mut_internal(handle.0, |vels: &mut RigidBodyVelocity| {
vels.linvel += dvel.linear; vels.linvel += dvel.linear;
vels.angvel += dangvel; vels.angvel += dangvel;
*vels = vels.apply_damping(params.dt, &damping);
}); });
} }
} }