Fix compute_lagrange_update at very high masses #172
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
With very dense colliders / very small inverse masses, the inverse mass sum was < EPSILON, and I was getting no collision response. Slow dynamic bodies with a high mass and inertia were passing through static bodies. This sets a minimum inverse_mass amount so there's still a response. I've no idea if this is correct, I have only verified that it solved the problem I was seeing in 2d.
Jondolf
added
bugfix
A-Dynamics
|
Nice catch, I think it's correct like this. I was originally worried that dividing by epsilon could still result in infinity in some cases, but I think in Rust that would only happen if the divisor is exactly zero (within the bounds of f32/f64) (note: CI is currently failing because of unrelated linking/storage issues so you can ignore it) |
Jondolf
reviewed
Oct 10, 2023
Co-authored-by: Joona Aalto <jondolf.dev@gmail.com>
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
With very dense colliders / very small inverse masses, the inverse mass sum was < EPSILON, and I was getting no collision response.
Slow dynamic bodies with a high mass and inertia were passing through static bodies.
This sets a minimum inverse_mass amount so there's still a response.
I've no idea if this is correct, I have only verified that it solved the problem I was seeing in 2d.