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Fix reported contact impulse in the contact force event

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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
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14
src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
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@@ -138,7 +138,7 @@ impl TwoBodyConstraintBuilderSimd {
rhs: na::zero(),
rhs_wo_bias: na::zero(),
impulse: SimdReal::splat(0.0),
total_impulse: SimdReal::splat(0.0),
impulse_accumulator: SimdReal::splat(0.0),
r: projected_mass,
};
}
@@ -241,19 +241,18 @@ impl TwoBodyConstraintBuilderSimd {
.simd_clamp(-max_penetration_correction, SimdReal::zero())
* erp_inv_dt;
let new_rhs = rhs_wo_bias + rhs_bias;
let total_impulse = element.normal_part.total_impulse + element.normal_part.impulse;
is_fast_contact =
is_fast_contact | (-new_rhs * dt).simd_gt(ccd_thickness * SimdReal::splat(0.5));
element.normal_part.rhs_wo_bias = rhs_wo_bias;
element.normal_part.rhs = new_rhs;
element.normal_part.total_impulse = total_impulse;
element.normal_part.impulse_accumulator += element.normal_part.impulse;
element.normal_part.impulse = na::zero();
}
// tangent parts.
{
element.tangent_part.total_impulse += element.tangent_part.impulse;
element.tangent_part.impulse_accumulator += element.tangent_part.impulse;
element.tangent_part.impulse = na::zero();
for j in 0..DIM - 1 {
@@ -328,11 +327,12 @@ impl TwoBodyConstraintSimd {
pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
for k in 0..self.num_contacts as usize {
let impulses: [_; SIMD_WIDTH] = self.elements[k].normal_part.impulse.into();
let impulses: [_; SIMD_WIDTH] = self.elements[k].normal_part.total_impulse().into();
#[cfg(feature = "dim2")]
let tangent_impulses: [_; SIMD_WIDTH] = self.elements[k].tangent_part.impulse[0].into();
let tangent_impulses: [_; SIMD_WIDTH] =
self.elements[k].tangent_part.total_impulse()[0].into();
#[cfg(feature = "dim3")]
let tangent_impulses = self.elements[k].tangent_part.impulse;
let tangent_impulses = self.elements[k].tangent_part.total_impulse();
for ii in 0..SIMD_WIDTH {
let manifold = &mut manifolds_all[self.manifold_id[ii]];