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Add params.velocity_based_erp_inv_dt() helper

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This commit is contained in:
Emil Ernerfeldt
2021-02-17 19:08:43 +01:00
parent 21247a1236
commit 4162aed2a0
5 changed files with 29 additions and 35 deletions
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7
src/dynamics/solver/velocity_constraint.rs
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@@ -147,6 +147,8 @@ impl VelocityConstraint {
assert_eq!(manifold.data.relative_dominance, 0);
let inv_dt = params.inv_dt();
let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt();
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
let mj_lambda1 = rb1.active_set_offset;
@@ -250,10 +252,7 @@ impl VelocityConstraint {
* (vel1 - vel2).dot(&force_dir1);
rhs += manifold_point.dist.max(0.0) * inv_dt;
rhs *= params.velocity_solve_fraction;
rhs += is_resting
* params.velocity_based_erp
* inv_dt
* manifold_point.dist.min(0.0);
rhs += is_resting * velocity_based_erp_inv_dt * manifold_point.dist.min(0.0);
constraint.elements[k].normal_part = VelocityConstraintElementPart {
gcross1,