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Fix Generic6DOFJoint3D not respecting angular limits

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A 6DOF constraint that constrains all rotation axis in combination with a body that has some of its rotation axis locked would not constrain the rotation in the unlocked axis.

Fixes #109018

(cherry picked from commit 9bb8d12c1b)
This commit is contained in:
Jorrit Rouwe 2025-09-30 21:01:27 +02:00 • committed by Rémi Verschelde
parent 0234028f7c
commit a3b924766d
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GPG key ID: C3336907360768E1
1 changed files with 15 additions and 2 deletions
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15
thirdparty/jolt_physics/Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h vendored
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@ -143,9 +143,22 @@ public:
mInvI2 = inBody2.IsDynamic()? inBody2.GetMotionProperties()->GetInverseInertiaForRotation(inRotation2) : Mat44::sZero(); mInvI2 = inBody2.IsDynamic()? inBody2.GetMotionProperties()->GetInverseInertiaForRotation(inRotation2) : Mat44::sZero();
// Calculate effective mass: K^-1 = (J M^-1 J^T)^-1 // Calculate effective mass: K^-1 = (J M^-1 J^T)^-1
if (!mEffectiveMass.SetInversed3x3(mInvI1 + mInvI2)) Mat44 inertia_sum = mInvI1 + mInvI2;
if (!mEffectiveMass.SetInversed3x3(inertia_sum))
{
// If a column is zero, the axis is locked and we set the column to identity.
// This does not matter because any impulse will always be multiplied with mInvI1 or mInvI2 which will result in zero for the locked coordinate.
Vec4 zero = Vec4::sZero();
if (inertia_sum.GetColumn4(0) == zero)
inertia_sum.SetColumn4(0, Vec4(1, 0, 0, 0));
if (inertia_sum.GetColumn4(1) == zero)
inertia_sum.SetColumn4(1, Vec4(0, 1, 0, 0));
if (inertia_sum.GetColumn4(2) == zero)
inertia_sum.SetColumn4(2, Vec4(0, 0, 1, 0));
if (!mEffectiveMass.SetInversed3x3(inertia_sum))
Deactivate(); Deactivate();
} }
}
/// Deactivate this constraint /// Deactivate this constraint
inline void Deactivate() inline void Deactivate()