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你好,使用 w *= angular_decay 其实主要是按照 lab 文档里说的公式直接进行了更新,因为除了重力没有其他外力,所以外力产生的力矩为 0。
按照老师给的算法角速度每个时间步长的更新值为 0,所以就省去了关于更新力矩和角速度的计算,角速度可以看作恒定,直接添加衰减系数模拟阻力效果。
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我觉得主要是这个算法的原因吧,它没有用到角动量,更新角速度是用的 合外力矩 / 转动惯量 * dt 作为每个时间步长角速度的变化量,所以在这个场景下角速度的变化量为 0。
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