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New contacts are bouncy, old are resting

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If a contact is new (previous impluse = 0), then we treat it as bouncy (respecting restitution).
If the contact is old we treat it as resting.

Exceptions for restitutions <=0 and >= 1.
This commit is contained in:
Emil Ernerfeldt
2021-02-15 21:18:26 +01:00
parent 9a15838ad5
commit f9e3d382d2
5 changed files with 49 additions and 35 deletions
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14
src/dynamics/solver/velocity_ground_constraint.rs
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@@ -154,15 +154,13 @@ impl VelocityGroundConstraint {
let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2));
let mut rhs = (vel1 - vel2).dot(&force_dir1);
let rhs = if manifold_point.is_bouncy() {
(1.0 + manifold_point.restitution) * (vel1 - vel2).dot(&force_dir1)
} else {
(vel1 - vel2).dot(&force_dir1) + manifold_point.dist.max(0.0) * inv_dt
};
if rhs <= -params.restitution_velocity_threshold {
rhs += manifold_point.restitution * rhs
}
rhs += manifold_point.dist.max(0.0) * inv_dt;
let impulse = manifold_points[k].data.impulse * warmstart_coeff;
let impulse = manifold_point.data.impulse * warmstart_coeff;
constraint.elements[k].normal_part = VelocityGroundConstraintElementPart {
gcross2,