Joint API and joint motors improvements

2022-02-20 12:55:00 +01:00
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
--- a/src/dynamics/solver/generic_velocity_constraint.rs
+++ b/src/dynamics/solver/generic_velocity_constraint.rs
@@ -261,7 +261,7 @@ impl GenericVelocityConstraint {
                    let mut rhs_wo_bias = (1.0 + is_bouncy * manifold_point.restitution)
                        * (vel1 - vel2).dot(&force_dir1);
                    rhs_wo_bias += manifold_point.dist.max(0.0) * inv_dt;
-                    rhs_wo_bias *= is_bouncy + is_resting * params.velocity_solve_fraction;
+                    rhs_wo_bias *= is_bouncy + is_resting;
                    let rhs_bias =
                        /* is_resting * */ erp_inv_dt * manifold_point.dist.min(0.0);