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Rotation locking: apply filter only to the world inertia properties to fix the multi-collider case.

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Crozet Sébastien
2021-01-21 14:58:40 +01:00
parent d69b5876f3
commit 8f330b2a00
25 changed files with 232 additions and 244 deletions
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16
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
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@@ -27,10 +27,10 @@ impl BallPositionConstraint {
Self {
local_com1: rb1.mass_properties.local_com,
local_com2: rb2.mass_properties.local_com,
im1: rb1.mass_properties.inv_mass,
im2: rb2.mass_properties.inv_mass,
ii1: rb1.world_inv_inertia_sqrt.squared(),
ii2: rb2.world_inv_inertia_sqrt.squared(),
im1: rb1.effective_inv_mass,
im2: rb2.effective_inv_mass,
ii1: rb1.effective_world_inv_inertia_sqrt.squared(),
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor1: cparams.local_anchor1,
local_anchor2: cparams.local_anchor2,
position1: rb1.active_set_offset,
@@ -115,8 +115,8 @@ impl BallPositionGroundConstraint {
// already been flipped by the caller.
Self {
anchor1: rb1.predicted_position * cparams.local_anchor2,
im2: rb2.mass_properties.inv_mass,
ii2: rb2.world_inv_inertia_sqrt.squared(),
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
position2: rb2.active_set_offset,
local_com2: rb2.mass_properties.local_com,
@@ -124,8 +124,8 @@ impl BallPositionGroundConstraint {
} else {
Self {
anchor1: rb1.predicted_position * cparams.local_anchor1,
im2: rb2.mass_properties.inv_mass,
ii2: rb2.world_inv_inertia_sqrt.squared(),
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,
position2: rb2.active_set_offset,
local_com2: rb2.mass_properties.local_com,