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Fix some solver issues

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- Fix the wrong codepath taken  by the solver for contacts involving a collider without parent.
- Properly adress the non-linear treatment of the friction direction
- Simplify the sleeping strategy
- Add an impulse resolution multiplier
This commit is contained in:
Sébastien Crozet
2022-01-16 16:40:59 +01:00
parent 4454a845e9
commit 0703e5527f
43 changed files with 936 additions and 229 deletions
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14
examples3d/debug_articulations3.rs
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@@ -66,17 +66,15 @@ pub fn init_world(testbed: &mut Testbed) {
let mut impulse_joints = ImpulseJointSet::new();
let mut multibody_joints = MultibodyJointSet::new();
let rigid_body = RigidBodyBuilder::new_dynamic().build();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) // Vector::y_axis())
.translation(vector![0.0, -3.0, 0.0])
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.02, 0.0])
.rotation(vector![0.1, 0.0, 0.1])
.build();
let handle = bodies.insert(rigid_body);
colliders.insert_with_parent(collider, handle, &mut bodies);
colliders.insert(collider);
let rigid_body = RigidBodyBuilder::new_static().build();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0) // Vector::y_axis())
.translation(vector![0.0, -3.02, 0.0])
let rigid_body = RigidBodyBuilder::new_dynamic().build();
let collider = ColliderBuilder::cuboid(30.0, 0.01, 30.0)
.translation(vector![0.0, -3.0, 0.0])
.rotation(vector![0.1, 0.0, 0.1])
.build();
let handle = bodies.insert(rigid_body);