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Joint API and joint motors improvements

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This commit is contained in:
Sébastien Crozet
2022-02-20 12:55:00 +01:00
committed by Sébastien Crozet
parent e740493b98
commit fb20d72ee2
108 changed files with 2650 additions and 1854 deletions
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18
src/dynamics/solver/velocity_constraint.rs
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@@ -5,7 +5,7 @@ use crate::dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyVelocity};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{Real, Vector, DIM, MAX_MANIFOLD_POINTS};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot, WReal};
use crate::utils::{self, WAngularInertia, WBasis, WCross, WDot, WReal};
use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart};
@@ -239,10 +239,11 @@ impl VelocityConstraint {
.transform_vector(dp2.gcross(-force_dir1));
let imsum = mprops1.effective_inv_mass + mprops2.effective_inv_mass;
let projected_mass = 1.0
/ (force_dir1.dot(&imsum.component_mul(&force_dir1))
let projected_mass = utils::inv(
force_dir1.dot(&imsum.component_mul(&force_dir1))
+ gcross1.gdot(gcross1)
+ gcross2.gdot(gcross2));
+ gcross2.gdot(gcross2),
);
let is_bouncy = manifold_point.is_bouncy() as u32 as Real;
let is_resting = 1.0 - is_bouncy;
@@ -250,7 +251,7 @@ impl VelocityConstraint {
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 + params.allowed_linear_error).min(0.0);
@@ -285,8 +286,11 @@ impl VelocityConstraint {
constraint.elements[k].tangent_part.gcross1[j] = gcross1;
constraint.elements[k].tangent_part.gcross2[j] = gcross2;
constraint.elements[k].tangent_part.rhs[j] = rhs;
constraint.elements[k].tangent_part.r[j] =
if cfg!(feature = "dim2") { 1.0 / r } else { r };
constraint.elements[k].tangent_part.r[j] = if cfg!(feature = "dim2") {
utils::inv(r)
} else {
r
};
}
#[cfg(feature = "dim3")]