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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-15 11:20:09 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-15 11:20:09 +0100 |
| commit | de39a41faa2ea722042231f91b5d579efdf1a02d (patch) | |
| tree | ccdd9f85a7e4b966b7d9cb5061ce56c0da0de54e /src/dynamics/solver/joint_constraint/joint_constraint.rs | |
| parent | d9b6198fa0c7d933960030b7cff15cdaecb504e6 (diff) | |
| download | rapier-de39a41faa2ea722042231f91b5d579efdf1a02d.tar.gz rapier-de39a41faa2ea722042231f91b5d579efdf1a02d.tar.bz2 rapier-de39a41faa2ea722042231f91b5d579efdf1a02d.zip | |
Implement non-linear position stabilization for the generic constraint.
Diffstat (limited to 'src/dynamics/solver/joint_constraint/joint_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_constraint.rs | 17 |
1 files changed, 0 insertions, 17 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_constraint.rs b/src/dynamics/solver/joint_constraint/joint_constraint.rs index 78332e8..12b8f77 100644 --- a/src/dynamics/solver/joint_constraint/joint_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_constraint.rs @@ -333,23 +333,6 @@ impl AnyJointVelocityConstraint { } } - pub fn solve2( - &mut self, - mj_lambdas: &mut [DeltaVel<Real>], - mj_lambdas_pos: &mut [DeltaVel<Real>], - ) { - match self { - AnyJointVelocityConstraint::GenericConstraint(c) => { - c.solve2(mj_lambdas, mj_lambdas_pos) - } - AnyJointVelocityConstraint::GenericGroundConstraint(c) => { - c.solve2(mj_lambdas, mj_lambdas_pos) - } - AnyJointVelocityConstraint::Empty => unreachable!(), - _ => {} - } - } - pub fn writeback_impulses(&self, joints_all: &mut [JointGraphEdge]) { match self { AnyJointVelocityConstraint::BallConstraint(c) => c.writeback_impulses(joints_all), |