diff options
Diffstat (limited to 'src/dynamics')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 2 | ||||
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint.rs | 2 |
2 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index 9d75830..514434b 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -207,7 +207,7 @@ impl VelocityConstraint { constraint.dir1 = force_dir1; constraint.im1 = rb1.effective_inv_mass; constraint.im2 = rb2.effective_inv_mass; - constraint.limit = manifold.data.friction; + constraint.limit = 0.0; constraint.mj_lambda1 = mj_lambda1; constraint.mj_lambda2 = mj_lambda2; constraint.manifold_id = manifold_id; diff --git a/src/dynamics/solver/velocity_ground_constraint.rs b/src/dynamics/solver/velocity_ground_constraint.rs index 49bb465..20642ec 100644 --- a/src/dynamics/solver/velocity_ground_constraint.rs +++ b/src/dynamics/solver/velocity_ground_constraint.rs @@ -130,7 +130,7 @@ impl VelocityGroundConstraint { { constraint.dir1 = force_dir1; constraint.im2 = rb2.effective_inv_mass; - constraint.limit = manifold.data.friction; + constraint.limit = 0.0; constraint.mj_lambda2 = mj_lambda2; constraint.manifold_id = manifold_id; constraint.manifold_contact_id = l * MAX_MANIFOLD_POINTS; |