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| author | Sébastien Crozet <developer@crozet.re> | 2022-05-31 10:22:28 +0200 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-05-31 10:22:28 +0200 |
| commit | fb1bfc762c89cd8c5bd745a82998c1662a1bf196 (patch) | |
| tree | 0ece4f99d458f47f1408c78f79b85345036d3671 /src/dynamics/solver/parallel_velocity_solver.rs | |
| parent | c630635e57624385123b4a0fb658018bc6fdba91 (diff) | |
| parent | 0640f5e660aef579a9e6b134b7066e9bcae32b8b (diff) | |
| download | rapier-fb1bfc762c89cd8c5bd745a82998c1662a1bf196.tar.gz rapier-fb1bfc762c89cd8c5bd745a82998c1662a1bf196.tar.bz2 rapier-fb1bfc762c89cd8c5bd745a82998c1662a1bf196.zip | |
Merge pull request #334 from dimforge/fixes
Some CCD and debug-render improvements
Diffstat (limited to 'src/dynamics/solver/parallel_velocity_solver.rs')
| -rw-r--r-- | src/dynamics/solver/parallel_velocity_solver.rs | 7 |
1 files changed, 0 insertions, 7 deletions
diff --git a/src/dynamics/solver/parallel_velocity_solver.rs b/src/dynamics/solver/parallel_velocity_solver.rs index ab34a42..3db1cdc 100644 --- a/src/dynamics/solver/parallel_velocity_solver.rs +++ b/src/dynamics/solver/parallel_velocity_solver.rs @@ -45,7 +45,6 @@ impl ParallelVelocitySolver { let joint_descs = &joint_constraints.constraint_descs[..]; let mut target_num_desc = 0; let mut shift = 0; - let cfm_factor = params.cfm_factor(); // Each thread will concurrently grab thread.batch_size constraint desc to // solve. If the batch size is large enough to cross the boundary of @@ -122,7 +121,6 @@ impl ParallelVelocitySolver { // Solve rigid-body contacts. solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -135,7 +133,6 @@ impl ParallelVelocitySolver { // Solve generic rigid-body contacts. solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -148,7 +145,6 @@ impl ParallelVelocitySolver { if solve_friction { solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -173,7 +169,6 @@ impl ParallelVelocitySolver { for _ in 0..remaining_friction_iterations { solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -265,7 +260,6 @@ impl ParallelVelocitySolver { solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -277,7 +271,6 @@ impl ParallelVelocitySolver { solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, |