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Fix delta_time being 0 resulting in incorrect simulation (#660)

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* Add failing test

* fix tests

* better fix

* add changelog

* fix propagated to `contact_cfm_factor`

* PR feedback

* more PR feedbacks
This commit is contained in:
Thierry Berger
2024-06-23 18:18:54 +02:00
committed by GitHub
parent 8a592e458e
commit 3e8650f3a7
4 changed files with 86 additions and 5 deletions
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15
src/dynamics/integration_parameters.rs
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@@ -181,7 +181,12 @@ impl IntegrationParameters {
/// [`Self::contact_damping_ratio`] and the substep length.
pub fn contact_cfm_factor(&self) -> Real {
// Compute CFM assuming a critically damped spring multiplied by the damping ratio.
let inv_erp_minus_one = 1.0 / self.contact_erp() - 1.0;
// The logic is similar to [`Self::joint_cfm_coeff`].
let contact_erp = self.contact_erp();
if contact_erp == 0.0 {
return 0.0;
}
let inv_erp_minus_one = 1.0 / contact_erp - 1.0;
// let stiffness = 4.0 * damping_ratio * damping_ratio * projected_mass
// / (dt * dt * inv_erp_minus_one * inv_erp_minus_one);
@@ -220,8 +225,12 @@ impl IntegrationParameters {
/// [`Self::joint_damping_ratio`] and the substep length.
pub fn joint_cfm_coeff(&self) -> Real {
// Compute CFM assuming a critically damped spring multiplied by the damping ratio.
// The logic is similar to `Self::cfm_factor`.
let inv_erp_minus_one = 1.0 / self.joint_erp() - 1.0;
// The logic is similar to `Self::contact_cfm_factor`.
let joint_erp = self.joint_erp();
if joint_erp == 0.0 {
return 0.0;
}
let inv_erp_minus_one = 1.0 / joint_erp - 1.0;
inv_erp_minus_one * inv_erp_minus_one
/ ((1.0 + inv_erp_minus_one)
* 4.0