diff options
| author | Sébastien Crozet <developer@crozet.re> | 2022-01-23 16:50:02 +0100 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-01-23 16:50:26 +0100 |
| commit | 78c8bc6cdef26d14c57d0eeb23188cba592961bf (patch) | |
| tree | b26951b1b08c66171e172237dfce6024792b36e9 /src/dynamics/solver/generic_velocity_ground_constraint.rs | |
| parent | b7bf80550d8cc61637a251aa2ba0e6cdb8d26b74 (diff) | |
| download | rapier-78c8bc6cdef26d14c57d0eeb23188cba592961bf.tar.gz rapier-78c8bc6cdef26d14c57d0eeb23188cba592961bf.tar.bz2 rapier-78c8bc6cdef26d14c57d0eeb23188cba592961bf.zip | |
Improve cfm configuration using the critical damping factor
Diffstat (limited to 'src/dynamics/solver/generic_velocity_ground_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/generic_velocity_ground_constraint.rs | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/src/dynamics/solver/generic_velocity_ground_constraint.rs b/src/dynamics/solver/generic_velocity_ground_constraint.rs index c9b2c3f..9ce824e 100644 --- a/src/dynamics/solver/generic_velocity_ground_constraint.rs +++ b/src/dynamics/solver/generic_velocity_ground_constraint.rs @@ -210,6 +210,7 @@ impl GenericVelocityGroundConstraint { pub fn solve( &mut self, + cfm_factor: Real, jacobians: &DVector<Real>, generic_mj_lambdas: &mut DVector<Real>, solve_restitution: bool, @@ -220,6 +221,7 @@ impl GenericVelocityGroundConstraint { let elements = &mut self.velocity_constraint.elements [..self.velocity_constraint.num_contacts as usize]; VelocityGroundConstraintElement::generic_solve_group( + cfm_factor, elements, jacobians, self.velocity_constraint.limit, |