From 27366e27ff1274b4c8d8542eaa0b24f449165555 Mon Sep 17 00:00:00 2001 From: Emil Ernerfeldt Date: Thu, 18 Feb 2021 10:40:42 +0100 Subject: Implement fixed wide --- .../solver/joint_constraint/fixed_velocity_constraint.rs | 9 --------- 1 file changed, 9 deletions(-) (limited to 'src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs') diff --git a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs index dc7569c..a169687 100644 --- a/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs @@ -323,15 +323,6 @@ impl FixedVelocityGroundConstraint { let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt(); if velocity_based_erp_inv_dt != 0.0 { - // let error = anchor2 * anchor1.inverse(); - // let lin_err = error.translation.vector; - // let ang_err = error.rotation; - - // Doesn't quite do what it should - // let target_pos = anchor1.lerp_slerp(&anchor2, velocity_based_erp_inv_dt); - // let error = target_pos * anchor1.inverse(); - // let lin_err = error.translation.vector; - let lin_err = anchor2.translation.vector - anchor1.translation.vector; let ang_err = anchor2.rotation * anchor1.rotation.inverse(); -- cgit