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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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8
src/dynamics/solver/position_constraint.rs
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@@ -94,10 +94,10 @@ impl PositionConstraint {
local_p2,
local_n1: rb1.position.inverse_transform_vector(&manifold.data.normal),
dists,
im1: rb1.mass_properties.inv_mass,
im2: rb2.mass_properties.inv_mass,
ii1: rb1.world_inv_inertia_sqrt.squared(),
ii2: rb2.world_inv_inertia_sqrt.squared(),
im1: rb1.effective_inv_mass,
im2: rb2.effective_inv_mass,
ii1: rb1.effective_world_inv_inertia_sqrt.squared(),
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
num_contacts: manifold_points.len() as u8,
erp: params.erp,
max_linear_correction: params.max_linear_correction,