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Constraint solver: properly take non-zero center of masses into account.

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This commit is contained in:
Sébastien Crozet
2020-08-31 19:02:37 +02:00
parent df2156ffd0
commit c286f44c4e
4 changed files with 14 additions and 11 deletions
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8
src/dynamics/solver/velocity_constraint.rs
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@@ -215,10 +215,8 @@ impl VelocityConstraint {
for k in 0..manifold_points.len() {
let manifold_point = &manifold_points[k];
let dp1 = (rb1.position * manifold_point.local_p1).coords
- rb1.position.translation.vector;
let dp2 = (rb2.position * manifold_point.local_p2).coords
- rb2.position.translation.vector;
let dp1 = (rb1.position * manifold_point.local_p1) - rb1.world_com;
let dp2 = (rb2.position * manifold_point.local_p2) - rb2.world_com;
let vel1 = rb1.linvel + rb1.angvel.gcross(dp1);
let vel2 = rb2.linvel + rb2.angvel.gcross(dp2);
@@ -355,7 +353,7 @@ impl VelocityConstraint {
}
}
// Solve penetration.
// Solve non-penetration.
for i in 0..self.num_contacts as usize {
let elt = &mut self.elements[i].normal_part;
let dimpulse = self.dir1.dot(&mj_lambda1.linear) + elt.gcross1.gdot(mj_lambda1.angular)