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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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24
src/dynamics/solver/velocity_constraint.rs
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@@ -161,8 +161,8 @@ impl VelocityConstraint {
let mut constraint = VelocityConstraint {
dir1: force_dir1,
elements: [VelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im1: rb1.mass_properties.inv_mass,
im2: rb2.mass_properties.inv_mass,
im1: rb1.effective_inv_mass,
im2: rb2.effective_inv_mass,
limit: 0.0,
mj_lambda1,
mj_lambda2,
@@ -204,8 +204,8 @@ impl VelocityConstraint {
#[cfg(target_arch = "wasm32")]
{
constraint.dir1 = force_dir1;
constraint.im1 = rb1.mass_properties.inv_mass;
constraint.im2 = rb2.mass_properties.inv_mass;
constraint.im1 = rb1.effective_inv_mass;
constraint.im2 = rb2.effective_inv_mass;
constraint.limit = manifold.data.friction;
constraint.mj_lambda1 = mj_lambda1;
constraint.mj_lambda2 = mj_lambda2;
@@ -226,15 +226,15 @@ impl VelocityConstraint {
// Normal part.
{
let gcross1 = rb1
.world_inv_inertia_sqrt
.effective_world_inv_inertia_sqrt
.transform_vector(dp1.gcross(force_dir1));
let gcross2 = rb2
.world_inv_inertia_sqrt
.effective_world_inv_inertia_sqrt
.transform_vector(dp2.gcross(-force_dir1));
let r = 1.0
/ (rb1.mass_properties.inv_mass
+ rb2.mass_properties.inv_mass
/ (rb1.effective_inv_mass
+ rb2.effective_inv_mass
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
@@ -263,14 +263,14 @@ impl VelocityConstraint {
for j in 0..DIM - 1 {
let gcross1 = rb1
.world_inv_inertia_sqrt
.effective_world_inv_inertia_sqrt
.transform_vector(dp1.gcross(tangents1[j]));
let gcross2 = rb2
.world_inv_inertia_sqrt
.effective_world_inv_inertia_sqrt
.transform_vector(dp2.gcross(-tangents1[j]));
let r = 1.0
/ (rb1.mass_properties.inv_mass
+ rb2.mass_properties.inv_mass
/ (rb1.effective_inv_mass
+ rb2.effective_inv_mass
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
let rhs = (vel1 - vel2).dot(&tangents1[j]);