diff options
Diffstat (limited to 'src/dynamics/solver')
| -rw-r--r-- | src/dynamics/solver/parallel_island_solver.rs | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs index f227e7f..61b3fcb 100644 --- a/src/dynamics/solver/parallel_island_solver.rs +++ b/src/dynamics/solver/parallel_island_solver.rs @@ -186,7 +186,7 @@ impl ParallelIslandSolver { let num_threads = rayon::current_num_threads(); let num_task_per_island = num_threads; // (num_threads / num_islands).max(1); // TODO: not sure this is the best value. Also, perhaps it is better to interleave tasks of each island? self.thread = ThreadContext::new(8); // TODO: could we compute some kind of optimal value here? - + // Interactions grouping. self.parallel_groups.group_interactions( island_id, @@ -229,7 +229,9 @@ impl ParallelIslandSolver { if self.parallel_contact_constraints.generic_jacobians.len() < contact_j_id { self.parallel_contact_constraints.generic_jacobians = DVector::zeros(contact_j_id); } else { - self.parallel_contact_constraints.generic_jacobians.fill(0.0); + self.parallel_contact_constraints + .generic_jacobians + .fill(0.0); } if self.parallel_joint_constraints.generic_jacobians.len() < joint_j_id { @@ -315,7 +317,7 @@ impl ParallelIslandSolver { let multibody = multibodies .get_multibody_mut_internal(link.multibody) .unwrap(); - + if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic { let mut mj_lambdas = velocity_solver .generic_mj_lambdas @@ -325,9 +327,9 @@ impl ParallelIslandSolver { } else { let (ids, mprops, forces): (&RigidBodyIds, &RigidBodyMassProps, &RigidBodyForces) = bodies.index_bundle(handle.0); - + let dvel = &mut velocity_solver.mj_lambdas[ids.active_set_offset]; - + // NOTE: `dvel.angular` is actually storing angular velocity delta multiplied // by the square root of the inertia tensor: dvel.angular += mprops.effective_world_inv_inertia_sqrt * forces.torque * params.dt; |