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Diffstat (limited to 'src/dynamics/solver/velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 434e6fb..643facb 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -286,7 +286,7 @@ impl VelocityConstraint { let mut mj_lambda2 = DeltaVel::zero(); VelocityConstraintElement::warmstart_group( - &self.elements, + &self.elements[..self.num_contacts as usize], &self.dir1, #[cfg(feature = "dim3")] &self.tangent1, @@ -305,7 +305,7 @@ impl VelocityConstraint { let mut mj_lambda2 = mj_lambdas[self.mj_lambda2 as usize]; VelocityConstraintElement::solve_group( - &mut self.elements, + &mut self.elements[..self.num_contacts as usize], &self.dir1, #[cfg(feature = "dim3")] &self.tangent1, |