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Improve cfm configuration using the critical damping factor

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This commit is contained in:
Sébastien Crozet
2022-01-23 16:50:02 +01:00
parent b7bf80550d
commit 78c8bc6cde
14 changed files with 196 additions and 122 deletions
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6
src/dynamics/solver/velocity_constraint_element.rs
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@@ -131,6 +131,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
#[inline]
pub fn solve(
&mut self,
cfm_factor: N,
dir1: &Vector<N>,
im1: &Vector<N>,
im2: &Vector<N>,
@@ -143,7 +144,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
- dir1.dot(&mj_lambda2.linear)
+ self.gcross2.gdot(mj_lambda2.angular)
+ self.rhs;
let new_impulse = (self.impulse - self.r * dvel).simd_max(N::zero());
let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero());
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
@@ -171,6 +172,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintElement<N> {
#[inline]
pub fn solve_group(
cfm_factor: N,
elements: &mut [Self],
dir1: &Vector<N>,
#[cfg(feature = "dim3")] tangent1: &Vector<N>,
@@ -191,7 +193,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintElement<N> {
for element in elements.iter_mut() {
element
.normal_part
.solve(&dir1, im1, im2, mj_lambda1, mj_lambda2);
.solve(cfm_factor, &dir1, im1, im2, mj_lambda1, mj_lambda2);
}
}