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Properly writeback the generic constrainst impulse when it comes from a revolute joint.

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Crozet Sébastien
2021-02-15 16:44:55 +01:00
parent ebd5562af3
commit 4f8f8017f4
2 changed files with 36 additions and 63 deletions
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2
src/dynamics/solver/joint_constraint/generic_position_constraint.rs
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@@ -152,7 +152,6 @@ impl GenericPositionConstraint {
}
}
// Will be actually inverted right after.
// TODO: we should keep the SdpMatrix3 type.
let rotmat = basis.to_rotation_matrix().into_inner();
let delassus = (self.ii1.quadform(&rotmat) + self.ii2.quadform(&rotmat)).into_matrix();
@@ -259,7 +258,6 @@ impl GenericPositionGroundConstraint {
let rotmat = basis.to_rotation_matrix().into_inner();
let rmat2 = r2.gcross_matrix() * rotmat;
// Will be actually inverted right after.
// TODO: we should keep the SdpMatrix3 type.
let delassus = self
.ii2