diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/solver/parallel_velocity_solver.rs | 7 |
1 files changed, 0 insertions, 7 deletions
diff --git a/src/dynamics/solver/parallel_velocity_solver.rs b/src/dynamics/solver/parallel_velocity_solver.rs index ab34a42..3db1cdc 100644 --- a/src/dynamics/solver/parallel_velocity_solver.rs +++ b/src/dynamics/solver/parallel_velocity_solver.rs @@ -45,7 +45,6 @@ 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(); // Each thread will concurrently grab thread.batch_size constraint desc to // solve. If the batch size is large enough to cross the boundary of @@ -122,7 +121,6 @@ impl ParallelVelocitySolver { // Solve rigid-body contacts. solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -135,7 +133,6 @@ impl ParallelVelocitySolver { // Solve generic rigid-body contacts. solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -148,7 +145,6 @@ impl ParallelVelocitySolver { if solve_friction { solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -173,7 +169,6 @@ impl ParallelVelocitySolver { for _ in 0..remaining_friction_iterations { solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -265,7 +260,6 @@ impl ParallelVelocitySolver { solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, @@ -277,7 +271,6 @@ impl ParallelVelocitySolver { solve!( contact_constraints, - cfm_factor, &contact_constraints.generic_jacobians, &mut self.mj_lambdas, &mut self.generic_mj_lambdas, |