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Fix issue in the contact solver that reduces jittering

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This commit is contained in:
Daniel Chappuis 2013-09-03 19:31:50 +02:00
parent 8db7823433
commit a009debf21
1 changed files with 2 additions and 2 deletions
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4
src/engine/ContactSolver.cpp
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@ -266,10 +266,10 @@ void ContactSolver::initializeContactConstraints() {
// Compute the restitution velocity bias "b". We compute this here instead // Compute the restitution velocity bias "b". We compute this here instead
// of inside the solve() method because we need to use the velocity difference // of inside the solve() method because we need to use the velocity difference
// at the beginning of the contact. Note that if it is a resting contact (normal // at the beginning of the contact. Note that if it is a resting contact (normal
// velocity under a given threshold), we don't add a restitution velocity bias // velocity bellow a given threshold), we do not add a restitution velocity bias
contactPoint.restitutionBias = 0.0; contactPoint.restitutionBias = 0.0;
decimal deltaVDotN = deltaV.dot(contactPoint.normal); decimal deltaVDotN = deltaV.dot(contactPoint.normal);
if (deltaVDotN < RESTITUTION_VELOCITY_THRESHOLD) { if (deltaVDotN < -RESTITUTION_VELOCITY_THRESHOLD) {
contactPoint.restitutionBias = manifold.restitutionFactor * deltaVDotN; contactPoint.restitutionBias = manifold.restitutionFactor * deltaVDotN;
} }