Fix compute_lagrange_update at very high masses #172
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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>
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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.