Implement dominance.

2021-02-24 13:26:51 +01:00
parent 3cc2738e5f
commit 96ecb877e2
11 changed files with 42 additions and 10 deletions
--- a/src/dynamics/solver/velocity_ground_constraint.rs
+++ b/src/dynamics/solver/velocity_ground_constraint.rs
@@ -66,7 +66,7 @@ impl VelocityGroundConstraint {
        let inv_dt = params.inv_dt();
        let mut rb1 = &bodies[manifold.data.body_pair.body1];
        let mut rb2 = &bodies[manifold.data.body_pair.body2];
-        let flipped = !rb2.is_dynamic();
+        let flipped = manifold.data.relative_dominance < 0;

        let (force_dir1, flipped_multiplier) = if flipped {
            std::mem::swap(&mut rb1, &mut rb2);