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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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16
src/dynamics/solver/generic_velocity_constraint_element.rs
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@@ -70,11 +70,11 @@ impl GenericRhs {
dir: &Vector<Real>,
gcross: &AngVector<Real>,
mj_lambdas: &mut DVector<Real>,
inv_mass: Real,
inv_mass: &Vector<Real>,
) {
match self {
GenericRhs::DeltaVel(rhs) => {
rhs.linear += dir * (inv_mass * impulse);
rhs.linear += dir.component_mul(inv_mass) * impulse;
rhs.angular += gcross * impulse;
}
GenericRhs::GenericId(mj_lambda) => {
@@ -94,8 +94,8 @@ impl VelocityConstraintTangentPart<Real> {
j_id: usize,
jacobians: &DVector<Real>,
tangents1: [&Vector<Real>; DIM - 1],
im1: Real,
im2: Real,
im1: &Vector<Real>,
im2: &Vector<Real>,
ndofs1: usize,
ndofs2: usize,
limit: Real,
@@ -246,8 +246,8 @@ impl VelocityConstraintNormalPart<Real> {
j_id: usize,
jacobians: &DVector<Real>,
dir1: &Vector<Real>,
im1: Real,
im2: Real,
im1: &Vector<Real>,
im2: &Vector<Real>,
ndofs1: usize,
ndofs2: usize,
mj_lambda1: &mut GenericRhs,
@@ -296,8 +296,8 @@ impl VelocityConstraintElement<Real> {
jacobians: &DVector<Real>,
dir1: &Vector<Real>,
#[cfg(feature = "dim3")] tangent1: &Vector<Real>,
im1: Real,
im2: Real,
im1: &Vector<Real>,
im2: &Vector<Real>,
limit: Real,
// ndofs is 0 for a non-multibody body, or a multibody with zero
// degrees of freedom.