Improve cfm configuration using the critical damping factor

2022-01-23 16:50:02 +01:00
parent b7bf80550d
commit 78c8bc6cde
14 changed files with 196 additions and 122 deletions
--- a/src/dynamics/solver/generic_velocity_ground_constraint.rs
+++ b/src/dynamics/solver/generic_velocity_ground_constraint.rs
@@ -210,6 +210,7 @@ impl GenericVelocityGroundConstraint {

    pub fn solve(
        &mut self,
+        cfm_factor: Real,
        jacobians: &DVector<Real>,
        generic_mj_lambdas: &mut DVector<Real>,
        solve_restitution: bool,
@@ -220,6 +221,7 @@ impl GenericVelocityGroundConstraint {
        let elements = &mut self.velocity_constraint.elements
            [..self.velocity_constraint.num_contacts as usize];
        VelocityGroundConstraintElement::generic_solve_group(
+            cfm_factor,
            elements,
            jacobians,
            self.velocity_constraint.limit,