diff options
Diffstat (limited to 'src/dynamics/solver/contact_constraint')
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 c31d2aa..2392493 100644 --- a/src/dynamics/solver/contact_constraint/one_body_constraint.rs +++ b/src/dynamics/solver/contact_constraint/one_body_constraint.rs @@ -310,8 +310,8 @@ impl OneBodyConstraintBuilder { { let rhs_wo_bias = info.normal_rhs_wo_bias + dist.max(0.0) * inv_dt; let rhs_bias = erp_inv_dt - * (dist + params.allowed_linear_error) - .clamp(-params.max_penetration_correction, 0.0); + * (dist + params.allowed_linear_error()) + .clamp(-params.max_penetration_correction(), 0.0); let new_rhs = rhs_wo_bias + rhs_bias; is_fast_contact = is_fast_contact || (-new_rhs * params.dt > ccd_thickness * 0.5); 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 77dfc42..5710bc4 100644 --- a/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs +++ b/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs @@ -265,9 +265,9 @@ impl SimdOneBodyConstraintBuilder { let cfm_factor = SimdReal::splat(params.cfm_factor()); let dt = SimdReal::splat(params.dt); let inv_dt = SimdReal::splat(params.inv_dt()); - let allowed_lin_err = SimdReal::splat(params.allowed_linear_error); + let allowed_lin_err = SimdReal::splat(params.allowed_linear_error()); let erp_inv_dt = SimdReal::splat(params.erp_inv_dt()); - let max_penetration_correction = SimdReal::splat(params.max_penetration_correction); + let max_penetration_correction = SimdReal::splat(params.max_penetration_correction()); let warmstart_coeff = SimdReal::splat(params.warmstart_coefficient); let rb2 = gather![|ii| &bodies[constraint.solver_vel2[ii]]]; diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint.rs b/src/dynamics/solver/contact_constraint/two_body_constraint.rs index f0d95d9..39f4931 100644 --- a/src/dynamics/solver/contact_constraint/two_body_constraint.rs +++ b/src/dynamics/solver/contact_constraint/two_body_constraint.rs @@ -410,8 +410,8 @@ impl TwoBodyConstraintBuilder { { let rhs_wo_bias = info.normal_rhs_wo_bias + dist.max(0.0) * inv_dt; let rhs_bias = erp_inv_dt - * (dist + params.allowed_linear_error) - .clamp(-params.max_penetration_correction, 0.0); + * (dist + params.allowed_linear_error()) + .clamp(-params.max_penetration_correction(), 0.0); let new_rhs = rhs_wo_bias + rhs_bias; is_fast_contact = is_fast_contact || (-new_rhs * params.dt > ccd_thickness * 0.5); 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 a6c387d..0b1b419 100644 --- a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs +++ b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs @@ -255,9 +255,9 @@ impl TwoBodyConstraintBuilderSimd { let cfm_factor = SimdReal::splat(params.cfm_factor()); let dt = SimdReal::splat(params.dt); let inv_dt = SimdReal::splat(params.inv_dt()); - let allowed_lin_err = SimdReal::splat(params.allowed_linear_error); + let allowed_lin_err = SimdReal::splat(params.allowed_linear_error()); let erp_inv_dt = SimdReal::splat(params.erp_inv_dt()); - let max_penetration_correction = SimdReal::splat(params.max_penetration_correction); + let max_penetration_correction = SimdReal::splat(params.max_penetration_correction()); let warmstart_coeff = SimdReal::splat(params.warmstart_coefficient); let rb1 = gather![|ii| &bodies[constraint.solver_vel1[ii]]]; |