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Split rigid-bodies and colliders into multiple components

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This commit is contained in:
Crozet Sébastien
2021-04-26 17:59:25 +02:00
parent aaf80bfa87
commit c32da78f2a
91 changed files with 5969 additions and 3653 deletions
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16
src/dynamics/solver/joint_constraint/generic_velocity_constraint.rs
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@@ -50,8 +50,8 @@ impl GenericVelocityConstraint {
rb1: &RigidBody,
rb2: &RigidBody,
) -> SpatialVector<Real> {
let lin_dvel = basis1.inverse_transform_vector(&(-rb1.linvel - rb1.angvel.gcross(*r1)))
+ basis2.inverse_transform_vector(&(rb2.linvel + rb2.angvel.gcross(*r2)));
let lin_dvel = basis1.inverse_transform_vector(&(-rb1.linvel() - rb1.angvel().gcross(*r1)))
+ basis2.inverse_transform_vector(&(rb2.linvel() + rb2.angvel().gcross(*r2)));
let ang_dvel = basis1.inverse_transform_vector(&-rb1.angvel)
+ basis2.inverse_transform_vector(&rb2.angvel);
@@ -203,8 +203,8 @@ impl GenericVelocityConstraint {
rb2: &RigidBody,
joint: &GenericJoint,
) -> Self {
let anchor1 = rb1.position * joint.local_anchor1;
let anchor2 = rb2.position * joint.local_anchor2;
let anchor1 = rb1.position() * joint.local_anchor1;
let anchor2 = rb2.position() * joint.local_anchor2;
let basis1 = anchor1.rotation;
let basis2 = anchor2.rotation;
let im1 = rb1.effective_inv_mass;
@@ -405,13 +405,13 @@ impl GenericVelocityGroundConstraint {
) -> Self {
let (anchor1, anchor2) = if flipped {
(
rb1.position * joint.local_anchor2,
rb2.position * joint.local_anchor1,
rb1.position() * joint.local_anchor2,
rb2.position() * joint.local_anchor1,
)
} else {
(
rb1.position * joint.local_anchor1,
rb2.position * joint.local_anchor2,
rb1.position() * joint.local_anchor1,
rb2.position() * joint.local_anchor2,
)
};