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feat: add IntegrationParameters::length_unit to adjust internal threshold based on user-defined length units

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This commit is contained in:
Sébastien Crozet
2024-04-24 22:37:21 +02:00
committed by Sébastien Crozet
parent 6635d49c8b
commit c079452a47
10 changed files with 80 additions and 30 deletions
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4
src/dynamics/solver/contact_constraint/one_body_constraint.rs
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@@ -310,8 +310,8 @@ impl OneBodyConstraintBuilder {
{
let rhs_wo_bias = info.normal_rhs_wo_bias + dist.max(0.0) * inv_dt;
let rhs_bias = erp_inv_dt
* (dist + params.allowed_linear_error)
.clamp(-params.max_penetration_correction, 0.0);
* (dist + params.allowed_linear_error())
.clamp(-params.max_penetration_correction(), 0.0);
let new_rhs = rhs_wo_bias + rhs_bias;
is_fast_contact = is_fast_contact || (-new_rhs * params.dt > ccd_thickness * 0.5);