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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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12
src/dynamics/solver/velocity_ground_constraint.rs
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@@ -68,11 +68,11 @@ impl VelocityGroundConstraint {
let mut rb2 = &bodies[manifold.data.body_pair.body2];
let flipped = !rb2.is_dynamic();
let force_dir1 = if flipped {
let (force_dir1, flipped_multiplier) = if flipped {
std::mem::swap(&mut rb1, &mut rb2);
manifold.data.normal
(manifold.data.normal, -1.0)
} else {
-manifold.data.normal
(-manifold.data.normal, 1.0)
};
let mj_lambda2 = rb2.active_set_offset;
@@ -123,7 +123,7 @@ impl VelocityGroundConstraint {
.as_nongrouped_ground_mut()
.unwrap()
} else {
unreachable!(); // We don't have parallelization on WASM yet, so this is unreachable.
unreachable!(); // We don't have parallelization on WASM yet, so this is unreachable.
};
#[cfg(target_arch = "wasm32")]
@@ -179,7 +179,9 @@ impl VelocityGroundConstraint {
.effective_world_inv_inertia_sqrt
.transform_vector(dp2.gcross(-tangents1[j]));
let r = 1.0 / (rb2.effective_inv_mass + gcross2.gdot(gcross2));
let rhs = -vel2.dot(&tangents1[j]) + vel1.dot(&tangents1[j]);
let rhs = (vel1 - vel2
+ flipped_multiplier * manifold_point.tangent_velocity)
.dot(&tangents1[j]);
#[cfg(feature = "dim2")]
let impulse = manifold_points[k].data.tangent_impulse * warmstart_coeff;
#[cfg(feature = "dim3")]