nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Fix reported contact impulse in the contact force event

Browse Source 
Address https://github.com/dimforge/rapier.js/issues/261
This commit is contained in:
Sébastien Crozet
2024-03-23 16:00:19 +01:00
committed by Sébastien Crozet
parent 59dc9bfe00
commit 09af4313fa
8 changed files with 80 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

30
src/dynamics/solver/contact_constraint/two_body_constraint_element.rs
View File

@@ -13,9 +13,9 @@ pub(crate) struct TwoBodyConstraintTangentPart<N: SimdRealCopy> {
#[cfg(feature = "dim3")]
pub impulse: na::Vector2<N>,
#[cfg(feature = "dim2")]
pub total_impulse: na::Vector1<N>,
pub impulse_accumulator: na::Vector1<N>,
#[cfg(feature = "dim3")]
pub total_impulse: na::Vector2<N>,
pub impulse_accumulator: na::Vector2<N>,
#[cfg(feature = "dim2")]
pub r: [N; 1],
#[cfg(feature = "dim3")]
@@ -30,7 +30,7 @@ impl<N: SimdRealCopy> TwoBodyConstraintTangentPart<N> {
rhs: [na::zero(); DIM - 1],
rhs_wo_bias: [na::zero(); DIM - 1],
impulse: na::zero(),
total_impulse: na::zero(),
impulse_accumulator: na::zero(),
#[cfg(feature = "dim2")]
r: [na::zero(); 1],
#[cfg(feature = "dim3")]
@@ -38,6 +38,20 @@ impl<N: SimdRealCopy> TwoBodyConstraintTangentPart<N> {
}
}
/// Total impulse applied across all the solver substeps.
#[inline]
#[cfg(feature = "dim2")]
pub fn total_impulse(&self) -> na::Vector1<N> {
self.impulse_accumulator + self.impulse
}
/// Total impulse applied across all the solver substeps.
#[inline]
#[cfg(feature = "dim3")]
pub fn total_impulse(&self) -> na::Vector2<N> {
self.impulse_accumulator + self.impulse
}
#[inline]
pub fn apply_limit(
&mut self,
@@ -166,7 +180,7 @@ pub(crate) struct TwoBodyConstraintNormalPart<N: SimdRealCopy> {
pub rhs: N,
pub rhs_wo_bias: N,
pub impulse: N,
pub total_impulse: N,
pub impulse_accumulator: N,
pub r: N,
}
@@ -178,11 +192,17 @@ impl<N: SimdRealCopy> TwoBodyConstraintNormalPart<N> {
rhs: na::zero(),
rhs_wo_bias: na::zero(),
impulse: na::zero(),
total_impulse: na::zero(),
impulse_accumulator: na::zero(),
r: na::zero(),
}
}
/// Total impulse applied across all the solver substeps.
#[inline]
pub fn total_impulse(&self) -> N {
self.impulse_accumulator + self.impulse
}
#[inline]
pub fn solve(
&mut self,