feat: rename cfm_factor, damping_ratio to contact_cfm_factor and contact_damping_ratio

4 files changed, 8 insertions, 8 deletions

diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint.rs b/src/dynamics/solver/contact_constraint/one_body_constraint.rs
index 1998659..5e6e86b 100644
--- a/src/dynamics/solver/contact_constraint/one_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/one_body_constraint.rs
@@ -272,9 +272,9 @@ impl OneBodyConstraintBuilder {
         rb2_pos: &Isometry<Real>,
         constraint: &mut OneBodyConstraint,
     ) {
-        let cfm_factor = params.cfm_factor();
+        let cfm_factor = params.contact_cfm_factor();
         let inv_dt = params.inv_dt();
-        let erp_inv_dt = params.erp_inv_dt();
+        let erp_inv_dt = params.contact_erp_inv_dt();
 
         let all_infos = &self.infos[..constraint.num_contacts as usize];
         let all_elements = &mut constraint.elements[..constraint.num_contacts as usize];
diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs b/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
index 1e470b0..077dd75 100644
--- a/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
+++ b/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs
@@ -261,10 +261,10 @@ impl SimdOneBodyConstraintBuilder {
         _multibodies: &MultibodyJointSet,
         constraint: &mut OneBodyConstraintSimd,
     ) {
-        let cfm_factor = SimdReal::splat(params.cfm_factor());
+        let cfm_factor = SimdReal::splat(params.contact_cfm_factor());
         let inv_dt = SimdReal::splat(params.inv_dt());
         let allowed_lin_err = SimdReal::splat(params.allowed_linear_error());
-        let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
+        let erp_inv_dt = SimdReal::splat(params.contact_erp_inv_dt());
         let max_corrective_velocity = SimdReal::splat(params.max_corrective_velocity());
         let warmstart_coeff = SimdReal::splat(params.warmstart_coefficient);
 
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint.rs b/src/dynamics/solver/contact_constraint/two_body_constraint.rs
index cb13664..d2a2c49 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint.rs
@@ -373,9 +373,9 @@ impl TwoBodyConstraintBuilder {
         rb2_pos: &Isometry<Real>,
         constraint: &mut TwoBodyConstraint,
     ) {
-        let cfm_factor = params.cfm_factor();
+        let cfm_factor = params.contact_cfm_factor();
         let inv_dt = params.inv_dt();
-        let erp_inv_dt = params.erp_inv_dt();
+        let erp_inv_dt = params.contact_erp_inv_dt();
 
         let all_infos = &self.infos[..constraint.num_contacts as usize];
         let all_elements = &mut constraint.elements[..constraint.num_contacts as usize];
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
index 33e5558..2e2c68a 100644
--- a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
+++ b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
@@ -250,10 +250,10 @@ impl TwoBodyConstraintBuilderSimd {
         _multibodies: &MultibodyJointSet,
         constraint: &mut TwoBodyConstraintSimd,
     ) {
-        let cfm_factor = SimdReal::splat(params.cfm_factor());
+        let cfm_factor = SimdReal::splat(params.contact_cfm_factor());
         let inv_dt = SimdReal::splat(params.inv_dt());
         let allowed_lin_err = SimdReal::splat(params.allowed_linear_error());
-        let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
+        let erp_inv_dt = SimdReal::splat(params.contact_erp_inv_dt());
         let max_corrective_velocity = SimdReal::splat(params.max_corrective_velocity());
         let warmstart_coeff = SimdReal::splat(params.warmstart_coefficient);