diff options
Diffstat (limited to 'src/dynamics/solver/velocity_solver.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_solver.rs | 7 |
1 files changed, 1 insertions, 6 deletions
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index d5dc77d..d15ea68 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -35,7 +35,6 @@ impl VelocitySolver { joint_constraints: &mut [AnyJointVelocityConstraint], generic_joint_jacobians: &DVector<Real>, ) { - let cfm_factor = params.cfm_factor(); self.mj_lambdas.clear(); self.mj_lambdas .resize(islands.active_island(island_id).len(), DeltaVel::zero()); @@ -86,7 +85,6 @@ impl VelocitySolver { for constraint in &mut *contact_constraints { constraint.solve( - cfm_factor, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, @@ -98,7 +96,6 @@ impl VelocitySolver { if solve_friction { for constraint in &mut *contact_constraints { constraint.solve( - cfm_factor, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, @@ -121,7 +118,6 @@ impl VelocitySolver { for _ in 0..remaining_friction_iterations { for constraint in &mut *contact_constraints { constraint.solve( - cfm_factor, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, @@ -168,6 +164,7 @@ impl VelocitySolver { &rb.pos.position, &rb.mprops.local_mprops.local_com, ); + rb.integrated_vels = new_vels; rb.pos = new_pos; } } @@ -190,7 +187,6 @@ impl VelocitySolver { for constraint in &mut *contact_constraints { constraint.solve( - 1.0, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, @@ -201,7 +197,6 @@ impl VelocitySolver { for constraint in &mut *contact_constraints { constraint.solve( - 1.0, generic_contact_jacobians, &mut self.mj_lambdas[..], &mut self.generic_mj_lambdas, |