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Attenuate the warmstart impulse for CCD contacts.

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CCD contacts result in very strong, instantaneous, impulses. So it is preferable to attenuate their contribution to subsequent timesteps to avoid overshooting.
This commit is contained in:
Crozet Sébastien
2021-03-28 11:26:53 +02:00
parent 710dd8d71e
commit 7306821c46
10 changed files with 114 additions and 62 deletions
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14
src/dynamics/rigid_body.rs
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@@ -204,8 +204,12 @@ impl RigidBody {
self.flags.contains(RigidBodyFlags::CCD_ENABLED)
}
pub fn is_moving_fast(&self, dt: Real) -> bool {
self.is_dynamic() && self.linvel.norm() * dt > self.ccd_thickness
}
pub(crate) fn should_resolve_ccd(&self, dt: Real) -> bool {
self.is_ccd_enabled() && self.is_dynamic() && self.linvel.norm() * dt > self.ccd_thickness
self.is_ccd_enabled() && self.is_moving_fast(dt)
}
/// Sets the rigid-body's mass properties.
@@ -371,10 +375,6 @@ impl RigidBody {
shift * Isometry::new(self.linvel * dt, self.angvel * dt) * shift.inverse()
}
pub(crate) fn position_at_time(&self, dt: Real) -> Isometry<Real> {
self.integrate_velocity(dt) * self.position
}
pub(crate) fn integrate_next_position(&mut self, dt: Real, apply_damping: bool) {
// TODO: do we want to apply damping before or after the velocity integration?
if apply_damping {
@@ -504,10 +504,6 @@ impl RigidBody {
self.linvel = dpos.translation.vector * inv_dt;
}
pub(crate) fn update_next_position(&mut self, dt: Real) {
self.next_position = self.integrate_velocity(dt) * self.position;
}
pub(crate) fn update_world_mass_properties(&mut self) {
self.world_com = self.mass_properties.world_com(&self.position);
self.effective_inv_mass = self.mass_properties.inv_mass;