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

2021-01-21 14:58:40 +01:00
parent d69b5876f3
commit 8f330b2a00
25 changed files with 232 additions and 244 deletions
--- a/src/dynamics/solver/position_ground_constraint.rs
+++ b/src/dynamics/solver/position_ground_constraint.rs
@@ -63,8 +63,8 @@ impl PositionGroundConstraint {
                local_p2,
                n1,
                dists,
-                im2: rb2.mass_properties.inv_mass,
-                ii2: rb2.world_inv_inertia_sqrt.squared(),
+                im2: rb2.effective_inv_mass,
+                ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
                num_contacts: manifold_contacts.len() as u8,
                erp: params.erp,
                max_linear_correction: params.max_linear_correction,