nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Crozet Sébastien
2021-01-21 14:58:40 +01:00
parent d69b5876f3
commit 8f330b2a00
25 changed files with 232 additions and 244 deletions
Download Patch File Download Diff File Expand all files Collapse all files

12
src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
View File

@@ -31,14 +31,14 @@ impl WBallPositionConstraint {
) -> Self {
let local_com1 = Point::from(array![|ii| rbs1[ii].mass_properties.local_com; SIMD_WIDTH]);
let local_com2 = Point::from(array![|ii| rbs2[ii].mass_properties.local_com; SIMD_WIDTH]);
let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let im1 = SimdReal::from(array![|ii| rbs1[ii].effective_inv_mass; SIMD_WIDTH]);
let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]);
let ii1 = AngularInertia::<SimdReal>::from(
array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
array![|ii| rbs1[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
)
.squared();
let ii2 = AngularInertia::<SimdReal>::from(
array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
)
.squared();
let local_anchor1 = Point::from(array![|ii| cparams[ii].local_anchor1; SIMD_WIDTH]);
@@ -141,9 +141,9 @@ impl WBallPositionGroundConstraint {
} else {
cparams[ii].local_anchor1
}; SIMD_WIDTH]);
let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]);
let ii2 = AngularInertia::<SimdReal>::from(
array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH],
array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
)
.squared();
let local_anchor2 = Point::from(array![|ii| if flipped[ii] {