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Fix SoftBody contact impulses applied on rigid bodies

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Parameters were inverted in `apply_impulse` and `apply_bias_impulse` due
to a modification on master.
This commit is contained in:
PouleyKetchoupp
2021-04-12 17:31:46 -07:00
parent 075f358fcd
commit 70aa39d127
1 changed files with 6 additions and 6 deletions
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12
servers/physics_3d/body_pair_3d_sw.cpp
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@@ -645,7 +645,7 @@ bool BodySoftBodyPair3DSW::setup(real_t p_step) {
c.depth = depth;
Vector3 j_vec = c.normal * c.acc_normal_impulse + c.acc_tangent_impulse;
body->apply_impulse(c.rA + body->get_center_of_mass(), -j_vec);
body->apply_impulse(-j_vec, c.rA + body->get_center_of_mass());
soft_body->apply_node_impulse(c.index_B, j_vec);
c.acc_bias_impulse = 0;
c.acc_bias_impulse_center_of_mass = 0;
@@ -691,7 +691,7 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
Vector3 jb = c.normal * (c.acc_bias_impulse - jbnOld);
body->apply_bias_impulse(c.rA + body->get_center_of_mass(), -jb, MAX_BIAS_ROTATION / p_step);
body->apply_bias_impulse(-jb, c.rA + body->get_center_of_mass(), MAX_BIAS_ROTATION / p_step);
soft_body->apply_node_bias_impulse(c.index_B, jb);
crbA = body->get_biased_angular_velocity().cross(c.rA);
@@ -706,8 +706,8 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
Vector3 jb_com = c.normal * (c.acc_bias_impulse_center_of_mass - jbnOld_com);
body->apply_bias_impulse(body->get_center_of_mass(), -jb_com, 0.0f);
soft_body->apply_node_bias_impulse(c.index_B, -jb_com);
body->apply_bias_impulse(-jb_com, body->get_center_of_mass(), 0.0f);
soft_body->apply_node_bias_impulse(c.index_B, jb_com);
}
c.active = true;
@@ -726,7 +726,7 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
Vector3 j = c.normal * (c.acc_normal_impulse - jnOld);
body->apply_impulse(c.rA + body->get_center_of_mass(), -j);
body->apply_impulse(-j, c.rA + body->get_center_of_mass());
soft_body->apply_node_impulse(c.index_B, j);
c.active = true;
@@ -767,7 +767,7 @@ void BodySoftBodyPair3DSW::solve(real_t p_step) {
jt = c.acc_tangent_impulse - jtOld;
body->apply_impulse(c.rA + body->get_center_of_mass(), -jt);
body->apply_impulse(-jt, c.rA + body->get_center_of_mass());
soft_body->apply_node_impulse(c.index_B, jt);
c.active = true;