diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/solver/generic_velocity_ground_constraint_element.rs | 6 | ||||
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs | 2 |
2 files changed, 4 insertions, 4 deletions
diff --git a/src/dynamics/solver/generic_velocity_ground_constraint_element.rs b/src/dynamics/solver/generic_velocity_ground_constraint_element.rs index f645f04..750811c 100644 --- a/src/dynamics/solver/generic_velocity_ground_constraint_element.rs +++ b/src/dynamics/solver/generic_velocity_ground_constraint_element.rs @@ -121,9 +121,9 @@ impl VelocityGroundConstraintElement<Real> { let mut nrm_j_id = j_id; for element in elements.iter_mut() { - element - .normal_part - .generic_solve(cfm_factor, nrm_j_id, jacobians, ndofs2, mj_lambda2, mj_lambdas); + element.normal_part.generic_solve( + cfm_factor, nrm_j_id, jacobians, ndofs2, mj_lambda2, mj_lambdas, + ); nrm_j_id += j_step; } } diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs index 0a75967..2646fe8 100644 --- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs @@ -524,6 +524,6 @@ impl JointGenericVelocityGroundConstraint { } pub fn remove_bias_from_rhs(&mut self) { - self.rhs = &mut self.rhs_wo_bias; + self.rhs = self.rhs_wo_bias; } } |