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_solver.rs | 6 ------
 1 file changed, 6 deletions(-)

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

diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs
index ddd7086..d15ea68 100644
--- a/src/dynamics/solver/velocity_solver.rs
+++ b/src/dynamics/solver/velocity_solver.rs
@@ -35,7 +35,6 @@ impl VelocitySolver {
         joint_constraints: &mut [AnyJointVelocityConstraint],
         generic_joint_jacobians: &DVector<Real>,
     ) {
-        let cfm_factor = params.cfm_factor();
         self.mj_lambdas.clear();
         self.mj_lambdas
             .resize(islands.active_island(island_id).len(), DeltaVel::zero());
@@ -86,7 +85,6 @@ impl VelocitySolver {
 
             for constraint in &mut *contact_constraints {
                 constraint.solve(
-                    cfm_factor,
                     generic_contact_jacobians,
                     &mut self.mj_lambdas[..],
                     &mut self.generic_mj_lambdas,
@@ -98,7 +96,6 @@ impl VelocitySolver {
             if solve_friction {
                 for constraint in &mut *contact_constraints {
                     constraint.solve(
-                        cfm_factor,
                         generic_contact_jacobians,
                         &mut self.mj_lambdas[..],
                         &mut self.generic_mj_lambdas,
@@ -121,7 +118,6 @@ impl VelocitySolver {
         for _ in 0..remaining_friction_iterations {
             for constraint in &mut *contact_constraints {
                 constraint.solve(
-                    cfm_factor,
                     generic_contact_jacobians,
                     &mut self.mj_lambdas[..],
                     &mut self.generic_mj_lambdas,
@@ -191,7 +187,6 @@ impl VelocitySolver {
 
             for constraint in &mut *contact_constraints {
                 constraint.solve(
-                    1.0,
                     generic_contact_jacobians,
                     &mut self.mj_lambdas[..],
                     &mut self.generic_mj_lambdas,
@@ -202,7 +197,6 @@ impl VelocitySolver {
 
             for constraint in &mut *contact_constraints {
                 constraint.solve(
-                    1.0,
                     generic_contact_jacobians,
                     &mut self.mj_lambdas[..],
                     &mut self.generic_mj_lambdas,
-- 
cgit