First working version of non-linear CCD based on single-substep motion-clamping.

2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
--- a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
@@ -134,7 +134,7 @@ impl WBallPositionGroundConstraint {
        cparams: [&BallJoint; SIMD_WIDTH],
        flipped: [bool; SIMD_WIDTH],
    ) -> Self {
-        let position1 = Isometry::from(array![|ii| rbs1[ii].predicted_position; SIMD_WIDTH]);
+        let position1 = Isometry::from(array![|ii| rbs1[ii].next_position; SIMD_WIDTH]);
        let anchor1 = position1
            * Point::from(array![|ii| if flipped[ii] {
                cparams[ii].local_anchor2