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 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); |