diff options
Diffstat (limited to 'src/dynamics/solver')
| -rw-r--r-- | src/dynamics/solver/parallel_velocity_solver.rs | 9 |
1 files changed, 8 insertions, 1 deletions
diff --git a/src/dynamics/solver/parallel_velocity_solver.rs b/src/dynamics/solver/parallel_velocity_solver.rs index 69ceb03..00668b1 100644 --- a/src/dynamics/solver/parallel_velocity_solver.rs +++ b/src/dynamics/solver/parallel_velocity_solver.rs @@ -54,6 +54,7 @@ impl ParallelVelocitySolver { let joint_descs = &joint_constraints.constraint_descs[..]; let mut target_num_desc = 0; let mut shift = 0; + let cfm_factor = params.cfm_factor(); for _ in 0..params.max_velocity_iterations { macro_rules! solve { @@ -116,7 +117,13 @@ impl ParallelVelocitySolver { ); shift += joint_descs.len(); start_index -= joint_descs.len(); - solve!(contact_constraints, &mut self.mj_lambdas, true, true); + solve!( + contact_constraints, + cfm_factor, + &mut self.mj_lambdas, + true, + true + ); shift += contact_descs.len(); start_index -= contact_descs.len(); } |