From 78c8bc6cdef26d14c57d0eeb23188cba592961bf Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 23 Jan 2022 16:50:02 +0100
Subject: Improve cfm configuration using the critical damping factor

---
 src/dynamics/solver/generic_velocity_constraint.rs | 5 +++++
 1 file changed, 5 insertions(+)

(limited to 'src/dynamics/solver/generic_velocity_constraint.rs')

diff --git a/src/dynamics/solver/generic_velocity_constraint.rs b/src/dynamics/solver/generic_velocity_constraint.rs
index f1ab0ea..c1d4134 100644
--- a/src/dynamics/solver/generic_velocity_constraint.rs
+++ b/src/dynamics/solver/generic_velocity_constraint.rs
@@ -23,6 +23,7 @@ pub(crate) enum AnyGenericVelocityConstraint {
 impl AnyGenericVelocityConstraint {
     pub fn solve(
         &mut self,
+        cfm_factor: Real,
         jacobians: &DVector<Real>,
         mj_lambdas: &mut [DeltaVel<Real>],
         generic_mj_lambdas: &mut DVector<Real>,
@@ -31,6 +32,7 @@ impl AnyGenericVelocityConstraint {
     ) {
         match self {
             AnyGenericVelocityConstraint::Nongrouped(c) => c.solve(
+                cfm_factor,
                 jacobians,
                 mj_lambdas,
                 generic_mj_lambdas,
@@ -38,6 +40,7 @@ impl AnyGenericVelocityConstraint {
                 solve_friction,
             ),
             AnyGenericVelocityConstraint::NongroupedGround(c) => c.solve(
+                cfm_factor,
                 jacobians,
                 generic_mj_lambdas,
                 solve_restitution,
@@ -379,6 +382,7 @@ impl GenericVelocityConstraint {
 
     pub fn solve(
         &mut self,
+        cfm_factor: Real,
         jacobians: &DVector<Real>,
         mj_lambdas: &mut [DeltaVel<Real>],
         generic_mj_lambdas: &mut DVector<Real>,
@@ -400,6 +404,7 @@ impl GenericVelocityConstraint {
         let elements = &mut self.velocity_constraint.elements
             [..self.velocity_constraint.num_contacts as usize];
         VelocityConstraintElement::generic_solve_group(
+            cfm_factor,
             elements,
             jacobians,
             &self.velocity_constraint.dir1,
-- 
cgit