Changes log :
1- removed Constraint.java
2- removed a lot of unused methods and member variables
3- renamed BodyContact to BodyPairContact
4- changed how the external forces are updated for the contacts in collections resolution/update (move it outside the loop on RigidCollection)
5- body.x and body.theta are now in world coordinates (even for bodies in collection)
6- -> implies to correctly updates bodies in collection after calling advanceTime on the collection
Missing :
1- an update of internal contacts force when one iteration PGS is disabled and the collection is moving
2- a rule to unmerge when a internal contact acts as a pivot
Note :
1- what we thought was a bug looks actually normal (yet unwanted)
after merging, the Jacobian of external contacts changes (torque components)
all variables look fine, yet the result is different...
Changes log : 1- removed Constraint.java 2- removed a lot of unused methods and member variables 3- renamed BodyContact to BodyPairContact 4- changed how the external forces are updated for the contacts in collections resolution/update (move it outside the loop on RigidCollection) 5- body.x and body.theta are now in world coordinates (even for bodies in collection) 6- -> implies to correctly updates bodies in collection after calling advanceTime on the collection
Missing : 1- an update of internal contacts force when one iteration PGS is disabled and the collection is moving 2- a rule to unmerge when a internal contact acts as a pivot
Note : 1- what we thought was a bug looks actually normal (yet unwanted) after merging, the Jacobian of external contacts changes (torque components) all variables look fine, yet the result is different...