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Fix constraints resolution with non-identity relative collider position.

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This commit is contained in:
Sébastien Crozet
2020-09-01 14:02:59 +02:00
parent 03b437f278
commit 9622827dc6
11 changed files with 118 additions and 75 deletions
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7
src/dynamics/solver/position_constraint_wide.rs
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@@ -51,6 +51,9 @@ impl WPositionConstraint {
let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
let delta1 = Isometry::from(array![|ii| manifolds[ii].delta1; SIMD_WIDTH]);
let delta2 = Isometry::from(array![|ii| manifolds[ii].delta2; SIMD_WIDTH]);
let rb1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -85,8 +88,8 @@ impl WPositionConstraint {
let local_p2 =
Point::from(array![|ii| manifold_points[ii][i].local_p2; SIMD_WIDTH]);
constraint.local_p1[i] = local_p1 + shift1;
constraint.local_p2[i] = local_p2 + shift2;
constraint.local_p1[i] = delta1 * (local_p1 + shift1);
constraint.local_p2[i] = delta2 * (local_p2 + shift2);
}
if push {