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| author | Sébastien Crozet <developer@crozet.re> | 2022-05-30 19:14:05 +0200 |
|---|---|---|
| committer | Sébastien Crozet <developer@crozet.re> | 2022-05-30 19:14:05 +0200 |
| commit | fef84169830186bcde602140541c8e57a7cccc7e (patch) | |
| tree | 9a1fde9d80aa2f50b53a2d39d69587804267122d /src/dynamics/solver/velocity_solver.rs | |
| parent | 0d05536ab66052af0dfc153e966c82b4e6d27075 (diff) | |
| download | rapier-fef84169830186bcde602140541c8e57a7cccc7e.tar.gz rapier-fef84169830186bcde602140541c8e57a7cccc7e.tar.bz2 rapier-fef84169830186bcde602140541c8e57a7cccc7e.zip | |
Move the cfm factor to the velocity constraints instead of the elements.
Diffstat (limited to 'src/dynamics/solver/velocity_solver.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_solver.rs | 6 |
1 files changed, 0 insertions, 6 deletions
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index ddd7086..d15ea68 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -35,7 +35,6 @@ impl VelocitySolver { joint_constraints: &mut [AnyJointVelocityConstraint], generic_joint_jacobians: &DVector<Real>, ) { - let cfm_factor = params.cfm_factor(); self.mj_lambdas.clear(); self.mj_lambdas .resize(islands.active_island(island_id).len(), DeltaVel::zero()); @@ -86,7 +85,6 @@ impl VelocitySolver { for constraint in &mut *contact_constraints { constraint.solve( - cfm_factor, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, @@ -98,7 +96,6 @@ impl VelocitySolver { if solve_friction { for constraint in &mut *contact_constraints { constraint.solve( - cfm_factor, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, @@ -121,7 +118,6 @@ impl VelocitySolver { for _ in 0..remaining_friction_iterations { for constraint in &mut *contact_constraints { constraint.solve( - cfm_factor, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, @@ -191,7 +187,6 @@ impl VelocitySolver { for constraint in &mut *contact_constraints { constraint.solve( - 1.0, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, @@ -202,7 +197,6 @@ impl VelocitySolver { for constraint in &mut *contact_constraints { constraint.solve( - 1.0, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, |