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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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12
src/dynamics/solver/velocity_ground_constraint.rs
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@@ -87,7 +87,7 @@ impl VelocityGroundConstraint {
let mut constraint = VelocityGroundConstraint {
dir1: force_dir1,
elements: [VelocityGroundConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im2: rb2.mass_properties.inv_mass,
im2: rb2.effective_inv_mass,
limit: 0.0,
mj_lambda2,
manifold_id,
@@ -128,7 +128,7 @@ impl VelocityGroundConstraint {
#[cfg(target_arch = "wasm32")]
{
constraint.dir1 = force_dir1;
constraint.im2 = rb2.mass_properties.inv_mass;
constraint.im2 = rb2.effective_inv_mass;
constraint.limit = manifold.data.friction;
constraint.mj_lambda2 = mj_lambda2;
constraint.manifold_id = manifold_id;
@@ -148,10 +148,10 @@ impl VelocityGroundConstraint {
// Normal part.
{
let gcross2 = rb2
.world_inv_inertia_sqrt
.effective_world_inv_inertia_sqrt
.transform_vector(dp2.gcross(-force_dir1));
let r = 1.0 / (rb2.mass_properties.inv_mass + gcross2.gdot(gcross2));
let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2));
let mut rhs = (vel1 - vel2).dot(&force_dir1);
@@ -177,9 +177,9 @@ impl VelocityGroundConstraint {
for j in 0..DIM - 1 {
let gcross2 = rb2
.world_inv_inertia_sqrt
.effective_world_inv_inertia_sqrt
.transform_vector(dp2.gcross(-tangents1[j]));
let r = 1.0 / (rb2.mass_properties.inv_mass + gcross2.gdot(gcross2));
let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2));
let rhs = -vel2.dot(&tangents1[j]) + vel1.dot(&tangents1[j]);
#[cfg(feature = "dim2")]
let impulse = manifold_points[k].data.tangent_impulse * warmstart_coeff;