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Fix ball penetrating arena under sustained force #66

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Fix ball penetrating arena under sustained force #66

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6 changes: 5 additions & 1 deletion rocketsim/src/bullet/dynamics/constraint_solver/seq_impulse_constraint_solver.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -17,6 +17,7 @@ struct SpecialResolveInfo {
pub num_special_collisions: u16,
pub total_normal: Vec3A,
pub total_dist: f32,
pub total_penetration: f32,
pub restitution: f32,
pub friction: f32,
}
Expand All @@ -27,6 +28,7 @@ impl SpecialResolveInfo {
num_special_collisions: 0,
total_normal: Vec3A::ZERO,
total_dist: 0.0,
total_penetration: 0.0,
restitution: 0.0,
friction: 0.0,
};
Expand All @@ -47,6 +49,7 @@ impl SpecialResolveInfo {
self.restitution = cp.combined_restitution;
self.total_normal += cp.normal_world_on_b;
self.total_dist += rel_pos.length();
self.total_penetration += cp.distance_1;
}
}
}
Expand Down Expand Up @@ -235,6 +238,7 @@ impl SeqImpulseConstraintSolver {
let num_collisions = f32::from(sri.num_special_collisions);
let distance = sri.total_dist / num_collisions;
let normal_world_on_b = sri.total_normal / num_collisions;
let avg_penetration = sri.total_penetration / num_collisions;

let friction_idx = self.tmp_solver_contact_constraint_pool.len();

Expand Down Expand Up @@ -270,7 +274,7 @@ impl SeqImpulseConstraintSolver {

let (contact_normal_1, rel_pos1_cross_normal) = (normal_world_on_b, torque_axis_0);

let penetration = distance;
let penetration = avg_penetration;

let vel = body.get_vel_in_local_point(rel_pos1);
let rel_vel = normal_world_on_b.dot(vel);
Expand Down