public OneWayOneDOFConstraint(TargetVelocityManifold m, Float3 M_inv, float dt) { e = m.e; id = m.id; this.M_inv = M_inv; constraint = new OneDOFConstraint <Float3>( J: new float3(m.normal, Lin.Cross(m.r, m.normal)), M_inv: M_inv, bias: -m.targetSpeed, softness: m.softness ); lambdaAccum = 0; }
public OneWayOneDOFConstraint(TargetAngularVelocityManifold m, Float3 M_inv, float dt) { e = m.e; id = m.id; this.M_inv = M_inv; constraint = new OneDOFConstraint <Float3>( J: new float3(0, 0, math.sign(m.targetAngVel)), M_inv: M_inv, bias: -math.abs(m.targetAngVel), softness: m.softness ); lambdaAccum = 0; }