Allow locking individual translational axes

2022-01-09 22:15:36 +01:00
parent 2bfceadf06
commit b631fe9193
16 changed files with 216 additions and 105 deletions
--- a/src/dynamics/solver/velocity_solver.rs
+++ b/src/dynamics/solver/velocity_solver.rs
@@ -67,7 +67,7 @@ impl VelocitySolver {
            // NOTE: `dvel.angular` is actually storing angular velocity delta multiplied
            //       by the square root of the inertia tensor:
            dvel.angular += mprops.effective_world_inv_inertia_sqrt * forces.torque * params.dt;
-            dvel.linear += forces.force * (mprops.effective_inv_mass * params.dt);
+            dvel.linear += forces.force.component_mul(&mprops.effective_inv_mass) * params.dt;
        }

        for (_, multibody) in multibodies.multibodies.iter_mut() {