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Properly take the tangent_velocity into account in the velocity solver.

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Crozet Sébastien
2021-02-23 15:47:24 +01:00
parent 4ca32a9546
commit 3fdb4cd6d3
4 changed files with 22 additions and 14 deletions
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4
src/dynamics/solver/velocity_constraint_wide.rs
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@@ -130,6 +130,8 @@ impl WVelocityConstraint {
);
let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]);
let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
let tangent_velocity =
Vector::from(array![|ii| manifold_points[ii][k].tangent_velocity; SIMD_WIDTH]);
let impulse =
SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
@@ -181,7 +183,7 @@ impl WVelocityConstraint {
let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
let r = SimdReal::splat(1.0)
/ (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2));
let rhs = (vel1 - vel2).dot(&tangents1[j]);
let rhs = (vel1 - vel2 + tangent_velocity).dot(&tangents1[j]);
constraint.elements[k].tangent_parts[j] = WVelocityConstraintElementPart {
gcross1,