From fef84169830186bcde602140541c8e57a7cccc7e Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Mon, 30 May 2022 19:14:05 +0200
Subject: Move the cfm factor to the velocity constraints instead of the
 elements.

---
 src/dynamics/solver/velocity_constraint_element.rs | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

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

diff --git a/src/dynamics/solver/velocity_constraint_element.rs b/src/dynamics/solver/velocity_constraint_element.rs
index 6c1006d..30afef5 100644
--- a/src/dynamics/solver/velocity_constraint_element.rs
+++ b/src/dynamics/solver/velocity_constraint_element.rs
@@ -112,7 +112,6 @@ pub(crate) struct VelocityConstraintNormalPart<N: WReal> {
     pub rhs_wo_bias: N,
     pub impulse: N,
     pub r: N,
-    pub cfm: N,
 }
 
 impl<N: WReal> VelocityConstraintNormalPart<N> {
@@ -124,7 +123,6 @@ impl<N: WReal> VelocityConstraintNormalPart<N> {
             rhs_wo_bias: na::zero(),
             impulse: na::zero(),
             r: na::zero(),
-            cfm: na::one(),
         }
     }
 
@@ -144,7 +142,7 @@ impl<N: WReal> VelocityConstraintNormalPart<N> {
             - dir1.dot(&mj_lambda2.linear)
             + self.gcross2.gdot(mj_lambda2.angular)
             + self.rhs;
-        let new_impulse = self.cfm * (self.impulse - self.r * dvel).simd_max(N::zero());
+        let new_impulse = cfm_factor * (self.impulse - self.r * dvel).simd_max(N::zero());
         let dlambda = new_impulse - self.impulse;
         self.impulse = new_impulse;
 
-- 
cgit