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Also clamp angular and linear velocities to max speeds while solving constraints #651

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Also clamp angular and linear velocities to max speeds while solving constraints #651

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a2c172b
Also clamp velocities to max speeds while solving constraints
coreh Feb 7, 2025
0a841fe
Fix wrong field name when feature 2d is on
coreh Feb 7, 2025
d1397e1
Fix documentation link lint error
coreh Feb 7, 2025
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26 changes: 26 additions & 0 deletions src/dynamics/rigid_body/world_query.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -25,6 +25,8 @@ pub struct RigidBodyQuery {
#[cfg(feature = "3d")]
pub global_angular_inertia: &'static mut GlobalAngularInertia,
pub center_of_mass: &'static mut ComputedCenterOfMass,
pub max_linear_speed: Option<&'static MaxLinearSpeed>,
pub max_angular_speed: Option<&'static MaxAngularSpeed>,
pub friction: Option<&'static Friction>,
pub restitution: Option<&'static Restitution>,
pub locked_axes: Option<&'static LockedAxes>,
Expand Down Expand Up @@ -112,6 +114,30 @@ impl RigidBodyQueryItem<'_> {
self.dominance.map_or(0, |dominance| dominance.0)
}
}

/// Clamps both [`LinearVelocity`] as well as [`AngularVelocity`] to the
/// limits determined by [`MaxLinearSpeed`] and [`MaxAngularSpeed`], if present
pub fn clamp_velocities(&mut self) {
if let Some(max_linear_speed) = self.max_linear_speed {
let linear_speed_squared = self.linear_velocity.0.length_squared();
if linear_speed_squared > max_linear_speed.0.powi(2) {
self.linear_velocity.0 *= max_linear_speed.0 / linear_speed_squared.sqrt();
}
}
if let Some(max_angular_speed) = self.max_angular_speed {
#[cfg(feature = "2d")]
if self.angular_velocity.abs() > max_angular_speed.0 {
self.angular_velocity.0 = max_angular_speed.copysign(self.angular_velocity.0);
}
#[cfg(feature = "3d")]
{
let angular_speed_squared = self.angular_velocity.0.length_squared();
if angular_speed_squared > max_angular_speed.0.powi(2) {
self.angular_velocity.0 *= max_angular_speed.0 / angular_speed_squared.sqrt();
}
}
}
}
}

impl RigidBodyQueryReadOnlyItem<'_> {
Expand Down
8 changes: 8 additions & 0 deletions src/dynamics/solver/contact/mod.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -242,10 +242,12 @@ impl ContactConstraint {
if body1.rb.is_dynamic() && body1.dominance() <= body2.dominance() {
body1.linear_velocity.0 -= p * inv_mass1;
body1.angular_velocity.0 -= inv_inertia1 * cross(r1, p);
body1.clamp_velocities();
}
if body2.rb.is_dynamic() && body2.dominance() <= body1.dominance() {
body2.linear_velocity.0 += p * inv_mass2;
body2.angular_velocity.0 += inv_inertia2 * cross(r2, p);
body2.clamp_velocities();
}
}
}
Expand Down Expand Up @@ -305,10 +307,12 @@ impl ContactConstraint {
if body1.rb.is_dynamic() && body1.dominance() <= body2.dominance() {
body1.linear_velocity.0 -= impulse * inv_mass1;
body1.angular_velocity.0 -= inv_inertia1 * cross(r1, impulse);
body1.clamp_velocities();
}
if body2.rb.is_dynamic() && body2.dominance() <= body1.dominance() {
body2.linear_velocity.0 += impulse * inv_mass2;
body2.angular_velocity.0 += inv_inertia2 * cross(r2, impulse);
body2.clamp_velocities();
}
}

Expand Down Expand Up @@ -341,10 +345,12 @@ impl ContactConstraint {
if body1.rb.is_dynamic() && body1.dominance() <= body2.dominance() {
body1.linear_velocity.0 -= impulse * inv_mass1;
body1.angular_velocity.0 -= inv_inertia1 * cross(r1, impulse);
body1.clamp_velocities();
}
if body2.rb.is_dynamic() && body2.dominance() <= body1.dominance() {
body2.linear_velocity.0 += impulse * inv_mass2;
body2.angular_velocity.0 += inv_inertia2 * cross(r2, impulse);
body2.clamp_velocities();
}
}
}
Expand Down Expand Up @@ -393,10 +399,12 @@ impl ContactConstraint {
if body1.rb.is_dynamic() && body1.dominance() <= body2.dominance() {
body1.linear_velocity.0 -= impulse * inv_mass1;
body1.angular_velocity.0 -= inv_inertia1 * cross(r1, impulse);
body1.clamp_velocities();
}
if body2.rb.is_dynamic() && body2.dominance() <= body1.dominance() {
body2.linear_velocity.0 += impulse * inv_mass2;
body2.angular_velocity.0 += inv_inertia2 * cross(r2, impulse);
body2.clamp_velocities();
}
}
}
Expand Down