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Rework the event system

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This commit is contained in:
Crozet Sébastien
2021-06-01 12:36:01 +02:00
parent 1bef66fea9
commit 826ce5f014
28 changed files with 382 additions and 200 deletions
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8
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
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@@ -34,8 +34,8 @@ impl BallPositionConstraint {
let (mprops2, ids2) = rb2;
Self {
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
im1: mprops1.effective_inv_mass,
im2: mprops2.effective_inv_mass,
ii1: mprops1.effective_world_inv_inertia_sqrt.squared(),
@@ -131,7 +131,7 @@ impl BallPositionGroundConstraint {
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
}
} else {
Self {
@@ -140,7 +140,7 @@ impl BallPositionGroundConstraint {
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
}
}
}