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Merge pull request #111087 from jrouwe/issue_109018

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[JoltPhysics] Fix Generic6DOFJoint3D not respecting angular limits
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Thaddeus Crews 2025-10-01 17:54:13 -05:00
commit be9f6b480c
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1 changed files with 15 additions and 2 deletions
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17
thirdparty/jolt_physics/Jolt/Physics/Constraints/ConstraintPart/RotationEulerConstraintPart.h vendored
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@ -143,8 +143,21 @@ 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;
Deactivate(); 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 this constraint /// Deactivate this constraint