Apply #1774 to main (7.0)

dartsim · Dec 19, 2023 · cf15489 · cf15489
1 parent 5d68310
commit cf15489
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/dart/dynamics/JointConstraint.cpp b/dart/dynamics/JointConstraint.cpp
@@ -231,7 +231,7 @@ void JointConstraint::update()
         // the position error.
 
         const double C1 = mErrorAllowance * A1;
-        double bouncing_vel = -std::max(B1, C1) / timeStep;
+        double bouncing_vel = -std::min(B1, C1) / timeStep;
         assert(bouncing_vel >= 0);
         bouncing_vel = std::min(bouncing_vel, mMaxErrorReductionVelocity);
 
@@ -268,7 +268,7 @@ void JointConstraint::update()
         // the position error.
 
         const double C2 = mErrorAllowance * A2;
-        double bouncing_vel = -std::min(B2, C2) / timeStep;
+        double bouncing_vel = -std::max(B2, C2) / timeStep;
         assert(bouncing_vel <= 0);
         bouncing_vel = std::max(bouncing_vel, -mMaxErrorReductionVelocity);