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Fix panic when the world is stepped with dt = 0

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Sébastien Crozet
2022-04-28 13:04:14 +02:00
parent 95418c218b
commit fd12d76102
1 changed files with 2 additions and 2 deletions
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4
src/dynamics/integration_parameters.rs
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@@ -93,12 +93,12 @@ impl IntegrationParameters {
/// The ERP coefficient, multiplied by the inverse timestep length. /// The ERP coefficient, multiplied by the inverse timestep length.
pub fn erp_inv_dt(&self) -> Real { pub fn erp_inv_dt(&self) -> Real {
self.erp / self.dt self.erp * self.inv_dt()
} }
/// The joint ERP coefficient, multiplied by the inverse timestep length. /// The joint ERP coefficient, multiplied by the inverse timestep length.
pub fn joint_erp_inv_dt(&self) -> Real { pub fn joint_erp_inv_dt(&self) -> Real {
self.joint_erp / self.dt self.joint_erp * self.inv_dt()
} }
/// The CFM factor to be used in the constraints resolution. /// The CFM factor to be used in the constraints resolution.