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Fix parallel build

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This commit is contained in:
Sébastien Crozet
2022-05-30 19:36:29 +02:00
parent 31cfce4db3
commit 0640f5e660
1 changed files with 0 additions and 7 deletions
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7
src/dynamics/solver/parallel_velocity_solver.rs
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@@ -45,7 +45,6 @@ impl ParallelVelocitySolver {
let joint_descs = &joint_constraints.constraint_descs[..]; let joint_descs = &joint_constraints.constraint_descs[..];
let mut target_num_desc = 0; let mut target_num_desc = 0;
let mut shift = 0; let mut shift = 0;
let cfm_factor = params.cfm_factor();
// Each thread will concurrently grab thread.batch_size constraint desc to // Each thread will concurrently grab thread.batch_size constraint desc to
// solve. If the batch size is large enough to cross the boundary of // solve. If the batch size is large enough to cross the boundary of
@@ -122,7 +121,6 @@ impl ParallelVelocitySolver {
// Solve rigid-body contacts. // Solve rigid-body contacts.
solve!( solve!(
contact_constraints, contact_constraints,
cfm_factor,
&contact_constraints.generic_jacobians, &contact_constraints.generic_jacobians,
&mut self.mj_lambdas, &mut self.mj_lambdas,
&mut self.generic_mj_lambdas, &mut self.generic_mj_lambdas,
@@ -135,7 +133,6 @@ impl ParallelVelocitySolver {
// Solve generic rigid-body contacts. // Solve generic rigid-body contacts.
solve!( solve!(
contact_constraints, contact_constraints,
cfm_factor,
&contact_constraints.generic_jacobians, &contact_constraints.generic_jacobians,
&mut self.mj_lambdas, &mut self.mj_lambdas,
&mut self.generic_mj_lambdas, &mut self.generic_mj_lambdas,
@@ -148,7 +145,6 @@ impl ParallelVelocitySolver {
if solve_friction { if solve_friction {
solve!( solve!(
contact_constraints, contact_constraints,
cfm_factor,
&contact_constraints.generic_jacobians, &contact_constraints.generic_jacobians,
&mut self.mj_lambdas, &mut self.mj_lambdas,
&mut self.generic_mj_lambdas, &mut self.generic_mj_lambdas,
@@ -173,7 +169,6 @@ impl ParallelVelocitySolver {
for _ in 0..remaining_friction_iterations { for _ in 0..remaining_friction_iterations {
solve!( solve!(
contact_constraints, contact_constraints,
cfm_factor,
&contact_constraints.generic_jacobians, &contact_constraints.generic_jacobians,
&mut self.mj_lambdas, &mut self.mj_lambdas,
&mut self.generic_mj_lambdas, &mut self.generic_mj_lambdas,
@@ -265,7 +260,6 @@ impl ParallelVelocitySolver {
solve!( solve!(
contact_constraints, contact_constraints,
cfm_factor,
&contact_constraints.generic_jacobians, &contact_constraints.generic_jacobians,
&mut self.mj_lambdas, &mut self.mj_lambdas,
&mut self.generic_mj_lambdas, &mut self.generic_mj_lambdas,
@@ -277,7 +271,6 @@ impl ParallelVelocitySolver {
solve!( solve!(
contact_constraints, contact_constraints,
cfm_factor,
&contact_constraints.generic_jacobians, &contact_constraints.generic_jacobians,
&mut self.mj_lambdas, &mut self.mj_lambdas,
&mut self.generic_mj_lambdas, &mut self.generic_mj_lambdas,