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

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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
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18
src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs
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@@ -51,10 +51,10 @@ impl FixedVelocityConstraint {
) -> Self {
let anchor1 = rb1.position * cparams.local_anchor1;
let anchor2 = rb2.position * cparams.local_anchor2;
let im1 = rb1.mass_properties.inv_mass;
let im2 = rb2.mass_properties.inv_mass;
let ii1 = rb1.world_inv_inertia_sqrt.squared();
let ii2 = rb2.world_inv_inertia_sqrt.squared();
let im1 = rb1.effective_inv_mass;
let im2 = rb2.effective_inv_mass;
let ii1 = rb1.effective_world_inv_inertia_sqrt.squared();
let ii2 = rb2.effective_world_inv_inertia_sqrt.squared();
let r1 = anchor1.translation.vector - rb1.world_com.coords;
let r2 = anchor2.translation.vector - rb2.world_com.coords;
let rmat1 = r1.gcross_matrix();
@@ -118,8 +118,8 @@ impl FixedVelocityConstraint {
im2,
ii1,
ii2,
ii1_sqrt: rb1.world_inv_inertia_sqrt,
ii2_sqrt: rb2.world_inv_inertia_sqrt,
ii1_sqrt: rb1.effective_world_inv_inertia_sqrt,
ii2_sqrt: rb2.effective_world_inv_inertia_sqrt,
impulse: cparams.impulse * params.warmstart_coeff,
inv_lhs,
r1,
@@ -248,8 +248,8 @@ impl FixedVelocityGroundConstraint {
let r1 = anchor1.translation.vector - rb1.world_com.coords;
let im2 = rb2.mass_properties.inv_mass;
let ii2 = rb2.world_inv_inertia_sqrt.squared();
let im2 = rb2.effective_inv_mass;
let ii2 = rb2.effective_world_inv_inertia_sqrt.squared();
let r2 = anchor2.translation.vector - rb2.world_com.coords;
let rmat2 = r2.gcross_matrix();
@@ -304,7 +304,7 @@ impl FixedVelocityGroundConstraint {
mj_lambda2: rb2.active_set_offset,
im2,
ii2,
ii2_sqrt: rb2.world_inv_inertia_sqrt,
ii2_sqrt: rb2.effective_world_inv_inertia_sqrt,
impulse: cparams.impulse * params.warmstart_coeff,
inv_lhs,
r2,