From 822f0d81bf2fbcb3a7f0733ce9bf24569a591bf7 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 3 Feb 2021 18:19:47 +0100
Subject: Minor cleanup.

---
 src/dynamics/solver/constraint_regularization.rs | 22 ++++------------------
 1 file changed, 4 insertions(+), 18 deletions(-)

(limited to 'src')

diff --git a/src/dynamics/solver/constraint_regularization.rs b/src/dynamics/solver/constraint_regularization.rs
index 4c67145..086e4a0 100644
--- a/src/dynamics/solver/constraint_regularization.rs
+++ b/src/dynamics/solver/constraint_regularization.rs
@@ -1,32 +1,18 @@
 use crate::math::Real;
 use na::RealField;
 
-pub struct SpringRegularization {
-    pub angular_frequency: Real,
-    pub damping: Real,
-}
+pub struct SpringRegularization {}
 
 impl Default for SpringRegularization {
     fn default() -> Self {
-        SpringRegularization {
-            angular_frequency: 30.0 * Real::two_pi(),
-            damping: 1.0,
-        }
+        SpringRegularization {}
     }
 }
 
 impl SpringRegularization {
     pub fn erp_cfm_impulse_scale(&self, dt: Real) -> (Real, Real, Real) {
-        let freq_dt = self.angular_frequency * dt;
-        let erp = self.angular_frequency / (freq_dt + self.damping * 2.0);
-        let extra = 1.0 / (freq_dt * (freq_dt + self.damping * 2.0));
-        let cfm = 1.0 / (1.0 + extra);
-        let impulse_scale = extra * cfm;
-
-        let kd = 1.0;
-        let kp = 10.0;
-        let erp = 0.2 / dt; // kp / (dt * kp + kd);
-        let cfm = 1.0e-5 / dt; // 1.0 / (dt * kp + kd);
+        let erp = 0.2 / dt;
+        let cfm = 1.0e-5 / dt;
         let impulse_scale = 0.9;
 
         (erp, cfm, impulse_scale)
-- 
cgit