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;
}
