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cleanup

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This commit is contained in:
Emil Ernerfeldt
2021-02-17 19:38:57 +01:00
parent 3f26b46196
commit ede4f0f770
3 changed files with 10 additions and 12 deletions
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14
src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs
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@@ -104,13 +104,12 @@ impl FixedVelocityConstraint {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let mut rhs = let mut rhs =
params.velocity_solve_fraction * Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel); Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel) * params.velocity_solve_fraction;
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
let mut rhs = params.velocity_solve_fraction let mut rhs = Vector6::new(
* Vector6::new(
lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z, lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z,
); ) * params.velocity_solve_fraction;
let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt(); let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt();
if velocity_based_erp_inv_dt != 0.0 { if velocity_based_erp_inv_dt != 0.0 {
@@ -316,12 +315,11 @@ impl FixedVelocityGroundConstraint {
#[cfg(feature = "dim2")] #[cfg(feature = "dim2")]
let mut rhs = let mut rhs =
params.velocity_solve_fraction * Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel); Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel) * params.velocity_solve_fraction;
#[cfg(feature = "dim3")] #[cfg(feature = "dim3")]
let mut rhs = params.velocity_solve_fraction let mut rhs = Vector6::new(
* Vector6::new(
lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z, lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z,
); ) * params.velocity_solve_fraction;
let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt(); let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt();
if velocity_based_erp_inv_dt != 0.0 { if velocity_based_erp_inv_dt != 0.0 {

2
src/dynamics/solver/velocity_constraint.rs
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@@ -251,7 +251,7 @@ impl VelocityConstraint {
let mut rhs = (1.0 + is_bouncy * manifold_point.restitution) let mut rhs = (1.0 + is_bouncy * manifold_point.restitution)
* (vel1 - vel2).dot(&force_dir1); * (vel1 - vel2).dot(&force_dir1);
rhs += manifold_point.dist.max(0.0) * inv_dt; rhs += manifold_point.dist.max(0.0) * inv_dt;
rhs *= params.velocity_solve_fraction; rhs *= is_bouncy + is_resting * params.velocity_solve_fraction;
rhs += is_resting * velocity_based_erp_inv_dt * manifold_point.dist.min(0.0); rhs += is_resting * velocity_based_erp_inv_dt * manifold_point.dist.min(0.0);
constraint.elements[k].normal_part = VelocityConstraintElementPart { constraint.elements[k].normal_part = VelocityConstraintElementPart {

2
src/dynamics/solver/velocity_ground_constraint.rs
View File

@@ -163,7 +163,7 @@ impl VelocityGroundConstraint {
let mut rhs = (1.0 + is_bouncy * manifold_point.restitution) let mut rhs = (1.0 + is_bouncy * manifold_point.restitution)
* (vel1 - vel2).dot(&force_dir1); * (vel1 - vel2).dot(&force_dir1);
rhs += manifold_point.dist.max(0.0) * inv_dt; rhs += manifold_point.dist.max(0.0) * inv_dt;
rhs *= params.velocity_solve_fraction; rhs *= is_bouncy + is_resting * params.velocity_solve_fraction;
rhs += is_resting * velocity_based_erp_inv_dt * manifold_point.dist.min(0.0); rhs += is_resting * velocity_based_erp_inv_dt * manifold_point.dist.min(0.0);
constraint.elements[k].normal_part = VelocityGroundConstraintElementPart { constraint.elements[k].normal_part = VelocityGroundConstraintElementPart {