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Fix constraints resolution with non-identity relative collider position.

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This commit is contained in:
Sébastien Crozet
2020-09-01 14:02:59 +02:00
parent 03b437f278
commit 9622827dc6
11 changed files with 118 additions and 75 deletions
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8
src/dynamics/solver/velocity_constraint.rs
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@@ -148,7 +148,9 @@ impl VelocityConstraint {
let rb2 = &bodies[manifold.body_pair.body2];
let mj_lambda1 = rb1.active_set_offset;
let mj_lambda2 = rb2.active_set_offset;
let force_dir1 = rb1.position * (-manifold.local_n1);
let pos_coll1 = rb1.position * manifold.delta1;
let pos_coll2 = rb2.position * manifold.delta2;
let force_dir1 = pos_coll1 * (-manifold.local_n1);
let warmstart_coeff = manifold.warmstart_multiplier * params.warmstart_coeff;
for (l, manifold_points) in manifold
@@ -215,8 +217,8 @@ impl VelocityConstraint {
for k in 0..manifold_points.len() {
let manifold_point = &manifold_points[k];
let dp1 = (rb1.position * manifold_point.local_p1) - rb1.world_com;
let dp2 = (rb2.position * manifold_point.local_p2) - rb2.world_com;
let dp1 = (pos_coll1 * manifold_point.local_p1) - rb1.world_com;
let dp2 = (pos_coll2 * manifold_point.local_p2) - rb2.world_com;
let vel1 = rb1.linvel + rb1.angvel.gcross(dp1);
let vel2 = rb2.linvel + rb2.angvel.gcross(dp2);