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Fix angular locked axes in gyroscopic torque computation #485

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Aug 10, 2024
Merged

Fix angular locked axes in gyroscopic torque computation #485

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2 changes: 1 addition & 1 deletion src/dynamics/integrator/semi_implicit_euler.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -77,7 +77,7 @@ pub fn integrate_velocity(
// However, the basic semi-implicit approach can blow up, as semi-implicit Euler
// extrapolates velocity and the gyroscopic torque is quadratic in the angular velocity.
// Thus, we use implicit Euler, which is much more accurate and stable, although slightly more expensive.
let effective_inertia = locked_axes.apply_to_rotation(inv_inertia.inverse().0);
let effective_inertia = locked_axes.apply_to_rotation(inv_inertia.0).inverse();
delta_ang_vel += solve_gyroscopic_torque(
*ang_vel,
rotation.0,
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