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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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28
src/dynamics/solver/velocity_constraint_element.rs
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@@ -30,8 +30,8 @@ impl<N: SimdRealField + Copy> VelocityConstraintTangentPart<N> {
pub fn solve(
&mut self,
tangents1: [&Vector<N>; DIM - 1],
im1: N,
im2: N,
im1: &Vector<N>,
im2: &Vector<N>,
limit: N,
mj_lambda1: &mut DeltaVel<N>,
mj_lambda2: &mut DeltaVel<N>,
@@ -50,10 +50,10 @@ impl<N: SimdRealField + Copy> VelocityConstraintTangentPart<N> {
let dlambda = new_impulse - self.impulse[0];
self.impulse[0] = new_impulse;
mj_lambda1.linear += tangents1[0] * (im1 * dlambda);
mj_lambda1.linear += tangents1[0].component_mul(im1) * dlambda;
mj_lambda1.angular += self.gcross1[0] * dlambda;
mj_lambda2.linear += tangents1[0] * (-im2 * dlambda);
mj_lambda2.linear += tangents1[0].component_mul(im2) * -dlambda;
mj_lambda2.angular += self.gcross2[0] * dlambda;
}
@@ -84,12 +84,12 @@ impl<N: SimdRealField + Copy> VelocityConstraintTangentPart<N> {
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
mj_lambda1.linear +=
tangents1[0] * (im1 * dlambda[0]) + tangents1[1] * (im1 * dlambda[1]);
mj_lambda1.linear += tangents1[0].component_mul(im1) * dlambda[0]
+ tangents1[1].component_mul(im1) * dlambda[1];
mj_lambda1.angular += self.gcross1[0] * dlambda[0] + self.gcross1[1] * dlambda[1];
mj_lambda2.linear +=
tangents1[0] * (-im2 * dlambda[0]) + tangents1[1] * (-im2 * dlambda[1]);
mj_lambda2.linear += tangents1[0].component_mul(im2) * -dlambda[0]
+ tangents1[1].component_mul(im2) * -dlambda[1];
mj_lambda2.angular += self.gcross2[0] * dlambda[0] + self.gcross2[1] * dlambda[1];
}
}
@@ -121,8 +121,8 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
pub fn solve(
&mut self,
dir1: &Vector<N>,
im1: N,
im2: N,
im1: &Vector<N>,
im2: &Vector<N>,
mj_lambda1: &mut DeltaVel<N>,
mj_lambda2: &mut DeltaVel<N>,
) where
@@ -136,10 +136,10 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
mj_lambda1.linear += dir1 * (im1 * dlambda);
mj_lambda1.linear += dir1.component_mul(im1) * dlambda;
mj_lambda1.angular += self.gcross1 * dlambda;
mj_lambda2.linear += dir1 * (-im2 * dlambda);
mj_lambda2.linear += dir1.component_mul(im2) * -dlambda;
mj_lambda2.angular += self.gcross2 * dlambda;
}
}
@@ -163,8 +163,8 @@ impl<N: SimdRealField + Copy> VelocityConstraintElement<N> {
elements: &mut [Self],
dir1: &Vector<N>,
#[cfg(feature = "dim3")] tangent1: &Vector<N>,
im1: N,
im2: N,
im1: &Vector<N>,
im2: &Vector<N>,
limit: N,
mj_lambda1: &mut DeltaVel<N>,
mj_lambda2: &mut DeltaVel<N>,