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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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14
src/dynamics/solver/velocity_ground_constraint_element.rs
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@@ -29,7 +29,7 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintTangentPart<N> {
pub fn solve(
&mut self,
tangents1: [&Vector<N>; DIM - 1],
im2: N,
im2: &Vector<N>,
limit: N,
mj_lambda2: &mut DeltaVel<N>,
) where
@@ -45,7 +45,7 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintTangentPart<N> {
let dlambda = new_impulse - self.impulse[0];
self.impulse[0] = new_impulse;
mj_lambda2.linear += tangents1[0] * (-im2 * dlambda);
mj_lambda2.linear += tangents1[0].component_mul(im2) * -dlambda;
mj_lambda2.angular += self.gcross2[0] * dlambda;
}
@@ -72,8 +72,8 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintTangentPart<N> {
self.impulse = new_impulse;
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];
}
}
@@ -101,7 +101,7 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintNormalPart<N> {
}
#[inline]
pub fn solve(&mut self, dir1: &Vector<N>, im2: N, mj_lambda2: &mut DeltaVel<N>)
pub fn solve(&mut self, dir1: &Vector<N>, im2: &Vector<N>, mj_lambda2: &mut DeltaVel<N>)
where
AngVector<N>: WDot<AngVector<N>, Result = N>,
{
@@ -111,7 +111,7 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintNormalPart<N> {
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;
mj_lambda2.linear += dir1 * (-im2 * dlambda);
mj_lambda2.linear += dir1.component_mul(im2) * -dlambda;
mj_lambda2.angular += self.gcross2 * dlambda;
}
}
@@ -136,7 +136,7 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintElement<N> {
elements: &mut [Self],
dir1: &Vector<N>,
#[cfg(feature = "dim3")] tangent1: &Vector<N>,
im2: N,
im2: &Vector<N>,
limit: N,
mj_lambda2: &mut DeltaVel<N>,
solve_normal: bool,