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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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8
src/dynamics/solver/joint_constraint/prismatic_position_constraint.rs
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@@ -28,10 +28,10 @@ pub(crate) struct PrismaticPositionConstraint {
impl PrismaticPositionConstraint {
pub fn from_params(rb1: &RigidBody, rb2: &RigidBody, cparams: &PrismaticJoint) -> Self {
let ii1 = rb1.world_inv_inertia_sqrt.squared();
let ii2 = rb2.world_inv_inertia_sqrt.squared();
let im1 = rb1.mass_properties.inv_mass;
let im2 = rb2.mass_properties.inv_mass;
let ii1 = rb1.effective_world_inv_inertia_sqrt.squared();
let ii2 = rb2.effective_world_inv_inertia_sqrt.squared();
let im1 = rb1.effective_inv_mass;
let im2 = rb2.effective_inv_mass;
let lin_inv_lhs = 1.0 / (im1 + im2);
let ang_inv_lhs = (ii1 + ii2).inverse();