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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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18
src/dynamics/solver/joint_constraint/revolute_velocity_constraint.rs
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@@ -52,14 +52,14 @@ impl RevoluteVelocityConstraint {
// let basis2 = r21 * basis1;
// NOTE: to simplify, we use basis2 = basis1.
// Though we may want to test if that does not introduce any instability.
let im1 = rb1.mass_properties.inv_mass;
let im2 = rb2.mass_properties.inv_mass;
let im1 = rb1.effective_inv_mass;
let im2 = rb2.effective_inv_mass;
let ii1 = rb1.world_inv_inertia_sqrt.squared();
let ii1 = rb1.effective_world_inv_inertia_sqrt.squared();
let r1 = anchor1 - rb1.world_com;
let r1_mat = r1.gcross_matrix();
let ii2 = rb2.world_inv_inertia_sqrt.squared();
let ii2 = rb2.effective_world_inv_inertia_sqrt.squared();
let r2 = anchor2 - rb2.world_com;
let r2_mat = r2.gcross_matrix();
@@ -87,10 +87,10 @@ impl RevoluteVelocityConstraint {
mj_lambda1: rb1.active_set_offset,
mj_lambda2: rb2.active_set_offset,
im1,
ii1_sqrt: rb1.world_inv_inertia_sqrt,
ii1_sqrt: rb1.effective_world_inv_inertia_sqrt,
basis1,
im2,
ii2_sqrt: rb2.world_inv_inertia_sqrt,
ii2_sqrt: rb2.effective_world_inv_inertia_sqrt,
impulse: cparams.impulse * params.warmstart_coeff,
inv_lhs,
rhs,
@@ -212,8 +212,8 @@ impl RevoluteVelocityGroundConstraint {
// .to_rotation_matrix()
// .into_inner();
// let basis2 = /*r21 * */ basis1;
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 r1 = anchor1 - rb1.world_com;
let r2 = anchor2 - rb2.world_com;
let r2_mat = r2.gcross_matrix();
@@ -240,7 +240,7 @@ impl RevoluteVelocityGroundConstraint {
joint_id,
mj_lambda2: rb2.active_set_offset,
im2,
ii2_sqrt: rb2.world_inv_inertia_sqrt,
ii2_sqrt: rb2.effective_world_inv_inertia_sqrt,
impulse: cparams.impulse * params.warmstart_coeff,
basis1,
inv_lhs,