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Rotation locking: apply filter only to the world inertia properties to fix the multi-collider case.

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Crozet Sébastien
2021-01-21 14:58:40 +01:00
parent d69b5876f3
commit 8f330b2a00
25 changed files with 232 additions and 244 deletions
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2
src/dynamics/solver/parallel_island_solver.rs
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@@ -250,7 +250,7 @@ impl ParallelIslandSolver {
let rb = &mut bodies[handle.0];
let dvel = mj_lambdas[rb.active_set_offset];
rb.linvel += dvel.linear;
rb.angvel += rb.world_inv_inertia_sqrt.transform_vector(dvel.angular);
rb.angvel += rb.effective_world_inv_inertia_sqrt.transform_vector(dvel.angular);
rb.integrate(params.dt());
positions[rb.active_set_offset] = rb.position;
}