diff options
| -rw-r--r-- | .vscode/tasks.json | 36 | ||||
| -rw-r--r-- | src/dynamics/solver/parallel_velocity_solver.rs | 9 |
2 files changed, 40 insertions, 5 deletions
diff --git a/.vscode/tasks.json b/.vscode/tasks.json index de72ffb..0bc892b 100644 --- a/.vscode/tasks.json +++ b/.vscode/tasks.json @@ -29,9 +29,23 @@ "all_examples3", "--release", "--features", - "simd-stable", + "simd-stable,other-backends", + "--", + "--pause" + ], + "group": "build" + }, + { + "label": "run 3d (simd - parallel - release) ", + "type": "shell", + "command": "cargo", + "args": [ + "run", + "--bin", + "all_examples3", + "--release", "--features", - "other-backends", + "simd-stable,other-backends,parallel", "--", "--pause" ], @@ -63,9 +77,23 @@ "all_examples2", "--release", "--features", - "simd-stable", + "simd-stable,other-backends", + "--", + "--pause" + ], + "group": "build" + }, + { + "label": "run 2d (simd - parallel - release) ", + "type": "shell", + "command": "cargo", + "args": [ + "run", + "--bin", + "all_examples2", + "--release", "--features", - "other-backends", + "simd-stable,other-backends,parallel", "--", "--pause" ], diff --git a/src/dynamics/solver/parallel_velocity_solver.rs b/src/dynamics/solver/parallel_velocity_solver.rs index 69ceb03..00668b1 100644 --- a/src/dynamics/solver/parallel_velocity_solver.rs +++ b/src/dynamics/solver/parallel_velocity_solver.rs @@ -54,6 +54,7 @@ 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(); for _ in 0..params.max_velocity_iterations { macro_rules! solve { @@ -116,7 +117,13 @@ impl ParallelVelocitySolver { ); shift += joint_descs.len(); start_index -= joint_descs.len(); - solve!(contact_constraints, &mut self.mj_lambdas, true, true); + solve!( + contact_constraints, + cfm_factor, + &mut self.mj_lambdas, + true, + true + ); shift += contact_descs.len(); start_index -= contact_descs.len(); } |