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Allow locking individual translational axes

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This commit is contained in:
Sébastien Crozet
2022-01-09 22:15:36 +01:00
parent 2bfceadf06
commit b631fe9193
16 changed files with 216 additions and 105 deletions
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22
src/dynamics/solver/generic_velocity_constraint.rs
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@@ -116,12 +116,12 @@ impl GenericVelocityConstraint {
im1: if rb_type1.is_dynamic() {
rb_mprops1.effective_inv_mass
} else {
0.0
na::zero()
},
im2: if rb_type2.is_dynamic() {
rb_mprops2.effective_inv_mass
} else {
0.0
na::zero()
},
limit: 0.0,
mj_lambda1,
@@ -175,7 +175,8 @@ impl GenericVelocityConstraint {
)
.0
} else if rb_type1.is_dynamic() {
rb_mprops1.effective_inv_mass + gcross1.gdot(gcross1)
force_dir1.dot(&rb_mprops1.effective_inv_mass.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
} else {
0.0
};
@@ -193,7 +194,8 @@ impl GenericVelocityConstraint {
)
.0
} else if rb_type2.is_dynamic() {
rb_mprops2.effective_inv_mass + gcross2.gdot(gcross2)
force_dir1.dot(&rb_mprops2.effective_inv_mass.component_mul(&force_dir1))
+ gcross2.gdot(gcross2)
} else {
0.0
};
@@ -258,7 +260,9 @@ impl GenericVelocityConstraint {
)
.0
} else if rb_type1.is_dynamic() {
rb_mprops1.effective_inv_mass + gcross1.gdot(gcross1)
force_dir1
.dot(&rb_mprops1.effective_inv_mass.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
} else {
0.0
};
@@ -276,7 +280,9 @@ impl GenericVelocityConstraint {
)
.0
} else if rb_type2.is_dynamic() {
rb_mprops2.effective_inv_mass + gcross2.gdot(gcross2)
force_dir1
.dot(&rb_mprops2.effective_inv_mass.component_mul(&force_dir1))
+ gcross2.gdot(gcross2)
} else {
0.0
};
@@ -345,8 +351,8 @@ impl GenericVelocityConstraint {
&self.velocity_constraint.dir1,
#[cfg(feature = "dim3")]
&self.velocity_constraint.tangent1,
self.velocity_constraint.im1,
self.velocity_constraint.im2,
&self.velocity_constraint.im1,
&self.velocity_constraint.im2,
self.velocity_constraint.limit,
self.ndofs1,
self.ndofs2,