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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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14
src/dynamics/solver/velocity_constraint_wide.rs
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@@ -71,18 +71,20 @@ impl WVelocityConstraint {
let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH];
let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH];
let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii1: AngularInertia<SimdReal> =
AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
let im1 = SimdReal::from(array![|ii| rbs1[ii].effective_inv_mass; SIMD_WIDTH]);
let ii1: AngularInertia<SimdReal> = AngularInertia::from(
array![|ii| rbs1[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
);
let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2: AngularInertia<SimdReal> =
AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]);
let ii2: AngularInertia<SimdReal> = AngularInertia::from(
array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH],
);
let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);