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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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6
src/dynamics/solver/velocity_constraint_wide.rs
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@@ -80,6 +80,7 @@ impl WVelocityConstraint {
let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
let position1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let ii2: AngularInertia<SimdFloat> =
@@ -89,6 +90,7 @@ impl WVelocityConstraint {
let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
let position2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
let force_dir1 = position1 * -Vector::from(array![|ii| manifolds[ii].local_n1; SIMD_WIDTH]);
@@ -130,8 +132,8 @@ impl WVelocityConstraint {
let impulse =
SimdFloat::from(array![|ii| manifold_points[ii][k].impulse; SIMD_WIDTH]);
let dp1 = p1.coords - position1.translation.vector;
let dp2 = p2.coords - position2.translation.vector;
let dp1 = p1 - world_com1;
let dp2 = p2 - world_com2;
let vel1 = linvel1 + angvel1.gcross(dp1);
let vel2 = linvel2 + angvel2.gcross(dp2);