diff options
Diffstat (limited to 'src/dynamics/solver/contact_constraint')
4 files changed, 8 insertions, 4 deletions
diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint.rs b/src/dynamics/solver/contact_constraint/one_body_constraint.rs index 1243d11..cf9fe67 100644 --- a/src/dynamics/solver/contact_constraint/one_body_constraint.rs +++ b/src/dynamics/solver/contact_constraint/one_body_constraint.rs @@ -333,7 +333,8 @@ impl OneBodyConstraintBuilder { } } - constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor }; + constraint.cfm_factor = cfm_factor; + // constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor }; } } 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 5710bc4..131702c 100644 --- a/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs +++ b/src/dynamics/solver/contact_constraint/one_body_constraint_simd.rs @@ -330,7 +330,8 @@ impl SimdOneBodyConstraintBuilder { } } - constraint.cfm_factor = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor); + constraint.cfm_factor = cfm_factor; + // constraint.cfm_factor = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor); } } diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint.rs b/src/dynamics/solver/contact_constraint/two_body_constraint.rs index 1511d4f..e98305a 100644 --- a/src/dynamics/solver/contact_constraint/two_body_constraint.rs +++ b/src/dynamics/solver/contact_constraint/two_body_constraint.rs @@ -432,7 +432,8 @@ impl TwoBodyConstraintBuilder { } } - constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor }; + constraint.cfm_factor = cfm_factor; + // constraint.cfm_factor = if is_fast_contact { 1.0 } else { cfm_factor }; } } 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 4c4ef52..4af0d10 100644 --- a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs +++ b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs @@ -317,7 +317,8 @@ impl TwoBodyConstraintBuilderSimd { } } - constraint.cfm_factor = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor); + constraint.cfm_factor = cfm_factor; + // constraint.cfm_factor = SimdReal::splat(1.0).select(is_fast_contact, cfm_factor); } } |