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Fix mass-properties update after collider change

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This commit is contained in:
Sébastien Crozet
2022-04-16 11:54:03 +02:00
committed by Sébastien Crozet
parent 775c45e9ff
commit ee679427cd
8 changed files with 118 additions and 34 deletions
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8
src/dynamics/solver/interaction_groups.rs
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@@ -431,14 +431,14 @@ impl InteractionGroups {
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb1.0);
(*data.0, data.1.active_set_offset)
} else {
(RigidBodyType::Fixed, 0)
(RigidBodyType::Fixed, usize::MAX)
};
let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
{
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb2.0);
(*data.0, data.1.active_set_offset)
} else {
(RigidBodyType::Fixed, 0)
(RigidBodyType::Fixed, usize::MAX)
};
let is_fixed1 = !status1.is_dynamic();
@@ -451,7 +451,9 @@ impl InteractionGroups {
let i1 = active_set_offset1;
let i2 = active_set_offset2;
let conflicts = self.body_masks[i1] | self.body_masks[i2];
let mask1 = if !is_fixed1 { self.body_masks[i1] } else { 0 };
let mask2 = if !is_fixed2 { self.body_masks[i2] } else { 0 };
let conflicts = mask1 | mask2;
let conflictfree_targets = !(conflicts & occupied_mask); // The & is because we consider empty buckets as free of conflicts.
let conflictfree_occupied_targets = conflictfree_targets & occupied_mask;