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Properly take the tangent_velocity into account in the velocity solver.

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Crozet Sébastien
2021-02-23 15:47:24 +01:00
parent 4ca32a9546
commit 3fdb4cd6d3
4 changed files with 22 additions and 14 deletions
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5
src/dynamics/solver/velocity_constraint.rs
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@@ -273,7 +273,8 @@ impl VelocityConstraint {
+ rb2.effective_inv_mass
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
let rhs = (vel1 - vel2).dot(&tangents1[j]);
let rhs =
(vel1 - vel2 + manifold_point.tangent_velocity).dot(&tangents1[j]);
#[cfg(feature = "dim2")]
let impulse = manifold_point.data.tangent_impulse * warmstart_coeff;
#[cfg(feature = "dim3")]
@@ -391,7 +392,7 @@ impl VelocityConstraint {
active_contact.data.impulse = self.elements[k].normal_part.impulse;
#[cfg(feature = "dim2")]
{
active_contacts.data.tangent_impulse = self.elements[k].tangent_part[0].impulse;
active_contact.data.tangent_impulse = self.elements[k].tangent_part[0].impulse;
}
#[cfg(feature = "dim3")]
{