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Fix velocity constraints for ball joints involving bodies with non-uniform angular inertia.

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Fix #86
This commit is contained in:
Crozet Sébastien
2021-01-20 17:03:36 +01:00
parent 0ade350b5f
commit d69b5876f3
4 changed files with 55 additions and 43 deletions
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6
examples3d/joints3.rs
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@@ -196,16 +196,16 @@ fn create_ball_joints(
};
let rigid_body = RigidBodyBuilder::new(status)
.translation(fk * shift, 0.0, fi * shift)
.translation(fk * shift, 0.0, fi * shift * 2.0)
.build();
let child_handle = bodies.insert(rigid_body);
let collider = ColliderBuilder::ball(rad).build();
let collider = ColliderBuilder::capsule_z(rad * 1.25, rad).build();
colliders.insert(collider, child_handle, bodies);
// Vertical joint.
if i > 0 {
let parent_handle = *body_handles.last().unwrap();
let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift));
let joint = BallJoint::new(Point3::origin(), Point3::new(0.0, 0.0, -shift * 2.0));
joints.insert(bodies, parent_handle, child_handle, joint);
}