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First working version of non-linear CCD based on single-substep motion-clamping.

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This commit is contained in:
Crozet Sébastien
2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
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4
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
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@@ -114,7 +114,7 @@ impl BallPositionGroundConstraint {
// are the local_anchors. The rb1 and rb2 have
// already been flipped by the caller.
Self {
anchor1: rb1.predicted_position * cparams.local_anchor2,
anchor1: rb1.next_position * cparams.local_anchor2,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
@@ -123,7 +123,7 @@ impl BallPositionGroundConstraint {
}
} else {
Self {
anchor1: rb1.predicted_position * cparams.local_anchor1,
anchor1: rb1.next_position * cparams.local_anchor1,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,