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use the precomputed constraint mass

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This commit is contained in:
Irlan 2018-07-26 11:10:57 -03:00
parent 6b35b2d5d6
commit f231948747
1 changed files with 1 additions and 8 deletions
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9
src/bounce/dynamics/cloth/cloth_solver.cpp
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@ -616,17 +616,10 @@ void b3ClothSolver::SolveVelocityConstraints()
// Solve normal constraint.
{
b3Vec3 rnA = b3Cross(rA, normal);
b3Vec3 rnB = b3Cross(rB, normal);
float32 K = mA + mB + b3Dot(iA * rnA, rnA) + b3Dot(iB * rnB, rnB);
float32 invK = K > 0.0f ? 1.0f / K : 0.0f;
b3Vec3 dv = vB + b3Cross(wB, rB) - vA - b3Cross(wA, rA);
float32 Cdot = b3Dot(normal, dv);
float32 impulse = invK * (-Cdot + vc->velocityBias);
float32 impulse = vc->normalMass * (-Cdot + vc->velocityBias);
float32 oldImpulse = vc->normalImpulse;
vc->normalImpulse = b3Max(vc->normalImpulse + impulse, 0.0f);