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This commit is contained in:
Sébastien Crozet
2021-08-07 21:40:32 +02:00
committed by Sébastien Crozet
parent eb8f6d360d
commit 16af01da42
2 changed files with 25 additions and 28 deletions
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27
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
View File

@@ -119,19 +119,18 @@ impl BallPositionConstraint {
let axis2 = position2 * self.limits_local_axis2;
#[cfg(feature = "dim2")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
#[cfg(feature = "dim3")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
let axis_angle =
Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
// TODO: handle the case where dot(axis1, axis2) = -1.0
if let Some((axis, angle)) = axis_angle
{
if let Some((axis, angle)) = axis_angle {
if angle >= self.limits_angle {
#[cfg(feature = "dim2")]
let axis = axis[0];
let axis = axis[0];
#[cfg(feature = "dim3")]
let axis = axis.into_inner();
let axis = axis.into_inner();
let ang_error = angle - self.limits_angle;
let ang_impulse = self
.inv_ii1_ii2
@@ -242,19 +241,19 @@ impl BallPositionGroundConstraint {
let axis2 = position2 * self.limits_local_axis2;
#[cfg(feature = "dim2")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &self.limits_axis1).axis_angle();
let axis_angle =
Rotation::rotation_between_axis(&axis2, &self.limits_axis1).axis_angle();
#[cfg(feature = "dim3")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &self.limits_axis1).and_then(|r| r.axis_angle());
let axis_angle = Rotation::rotation_between_axis(&axis2, &self.limits_axis1)
.and_then(|r| r.axis_angle());
// TODO: handle the case where dot(axis1, axis2) = -1.0
if let Some((axis, angle)) = axis_angle
{
if let Some((axis, angle)) = axis_angle {
if angle >= self.limits_angle {
#[cfg(feature = "dim2")]
let axis = axis[0];
let axis = axis[0];
#[cfg(feature = "dim3")]
let axis = axis.into_inner();
let axis = axis.into_inner();
let ang_error = angle - self.limits_angle;
let ang_correction = axis * ang_error * params.joint_erp;
position2.rotation = Rotation::new(ang_correction) * position2.rotation;

26
src/dynamics/solver/joint_constraint/ball_velocity_constraint.rs
View File

@@ -183,19 +183,18 @@ impl BallVelocityConstraint {
let axis2 = rb_pos2.position * joint.limits_local_axis2;
#[cfg(feature = "dim2")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
#[cfg(feature = "dim3")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
let axis_angle =
Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
// TODO: handle the case where dot(axis1, axis2) = -1.0
if let Some((axis, angle)) = axis_angle
{
if let Some((axis, angle)) = axis_angle {
if angle >= joint.limits_angle {
#[cfg(feature = "dim2")]
let axis = axis[0];
let axis = axis[0];
#[cfg(feature = "dim3")]
let axis = axis.into_inner();
let axis = axis.into_inner();
limits_active = true;
limits_rhs = (rb_vels2.angvel.gdot(axis) - rb_vels1.angvel.gdot(axis))
@@ -526,19 +525,18 @@ impl BallVelocityGroundConstraint {
};
#[cfg(feature = "dim2")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).axis_angle();
#[cfg(feature = "dim3")]
let axis_angle = Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
let axis_angle =
Rotation::rotation_between_axis(&axis2, &axis1).and_then(|r| r.axis_angle());
// TODO: handle the case where dot(axis1, axis2) = -1.0
if let Some((axis, angle)) = axis_angle
{
if let Some((axis, angle)) = axis_angle {
if angle >= joint.limits_angle {
#[cfg(feature = "dim2")]
let axis = axis[0];
let axis = axis[0];
#[cfg(feature = "dim3")]
let axis = axis.into_inner();
let axis = axis.into_inner();
limits_active = true;
limits_rhs = (rb_vels2.angvel.gdot(axis) - rb_vels1.angvel.gdot(axis))