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Fix effective inverse mass computation for 3D friction #609

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Merged
Jondolf merged 1 commit into from
Dec 30, 2024
Merged

Fix effective inverse mass computation for 3D friction #609

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2 changes: 1 addition & 1 deletion src/dynamics/solver/contact/tangent_part.rs
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Expand Up @@ -139,7 +139,7 @@ impl ContactTangentPart {
// This is needed for solving the two tangent directions simultaneously.
// TODO. Derive and explain the math for this, or consider an alternative approach,
// like using the Jacobians to compute the actual effective mass matrix.
part.effective_inverse_mass[2] = 2.0 * (i1_rt11.dot(i1_rt21) + i2_rt12.dot(i2_rt22));
part.effective_inverse_mass[2] = 2.0 * (rt11.dot(i1_rt21) + rt12.dot(i2_rt22));
}

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