remove constraint torque clamp

liabru · Dec 28, 2015 · 6f89250 · 6f89250
1 parent 2e6afd4
commit 6f89250
Showing 1 changed file with 2 additions and 12 deletions.
diff --git a/src/constraint/Constraint.js b/src/constraint/Constraint.js
@@ -206,12 +206,6 @@ var Common = require('../core/Common');
         if (bodyA && !bodyA.isStatic) {
             torque = Vector.cross(offsetA, normalVelocity) * bodyA.inverseInertia * (1 - constraint.angularStiffness);
 
-            Sleeping.set(bodyA, false);
-
-            // clamp to prevent instability
-            // TODO: solve this properly
-            torque = Common.clamp(torque, -0.01, 0.01);
-
             // keep track of applied impulses for post solving
             bodyA.constraintImpulse.x -= force.x;
             bodyA.constraintImpulse.y -= force.y;
@@ -226,12 +220,6 @@ var Common = require('../core/Common');
         if (bodyB && !bodyB.isStatic) {
             torque = Vector.cross(offsetB, normalVelocity) * bodyB.inverseInertia * (1 - constraint.angularStiffness);
 
-            Sleeping.set(bodyB, false);
-
-            // clamp to prevent instability
-            // TODO: solve this properly
-            torque = Common.clamp(torque, -0.01, 0.01);
-
             // keep track of applied impulses for post solving
             bodyB.constraintImpulse.x += force.x;
             bodyB.constraintImpulse.y += force.y;
@@ -260,6 +248,8 @@ var Common = require('../core/Common');
                 continue;
             }
 
+            Sleeping.set(body, false);
+
             // update geometry and reset
             for (var j = 0; j < body.parts.length; j++) {
                 var part = body.parts[j];