nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
Crozet Sébastien
2021-03-26 18:16:27 +01:00
parent 326469a1df
commit 97157c9423
29 changed files with 696 additions and 109 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
View File

@@ -100,10 +100,10 @@ impl FixedPositionGroundConstraint {
let local_anchor2;
if flipped {
anchor1 = rb1.predicted_position * cparams.local_anchor2;
anchor1 = rb1.next_position * cparams.local_anchor2;
local_anchor2 = cparams.local_anchor1;
} else {
anchor1 = rb1.predicted_position * cparams.local_anchor1;
anchor1 = rb1.next_position * cparams.local_anchor1;
local_anchor2 = cparams.local_anchor2;
};