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Fix locked axes in gyro torque #486

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merged 2 commits into from
Aug 19, 2024
Merged

Fix locked axes in gyro torque #486

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9631299
Fix locked axes in gyro torque
unpairedbracket Aug 11, 2024
32e0423
Merge branch 'main' into fix_gyro
Jondolf Aug 19, 2024
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10 changes: 3 additions & 7 deletions src/dynamics/integrator/semi_implicit_euler.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -77,13 +77,9 @@ 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.0).inverse();
delta_ang_vel += solve_gyroscopic_torque(
*ang_vel,
rotation.0,
Inertia(effective_inertia),
delta_seconds,
);
let delta_ang_vel_gyro =
solve_gyroscopic_torque(*ang_vel, rotation.0, inv_inertia.inverse(), delta_seconds);
delta_ang_vel += locked_axes.apply_to_angular_velocity(delta_ang_vel_gyro);
}

if delta_ang_vel != AngularVelocity::ZERO.0 && delta_ang_vel.is_finite() {
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