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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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8
src/dynamics/solver/joint_constraint/prismatic_position_constraint.rs
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@@ -119,14 +119,14 @@ impl PrismaticPositionGroundConstraint {
let local_axis2;
if flipped {
frame1 = rb1.predicted_position * cparams.local_frame2();
frame1 = rb1.next_position * cparams.local_frame2();
local_frame2 = cparams.local_frame1();
axis1 = rb1.predicted_position * cparams.local_axis2;
axis1 = rb1.next_position * cparams.local_axis2;
local_axis2 = cparams.local_axis1;
} else {
frame1 = rb1.predicted_position * cparams.local_frame1();
frame1 = rb1.next_position * cparams.local_frame1();
local_frame2 = cparams.local_frame2();
axis1 = rb1.predicted_position * cparams.local_axis1;
axis1 = rb1.next_position * cparams.local_axis1;
local_axis2 = cparams.local_axis2;
};