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feat: add IntegrationParameters::length_unit to adjust internal threshold based on user-defined length units

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Sébastien Crozet
2024-04-24 22:37:21 +02:00
committed by Sébastien Crozet
parent 6635d49c8b
commit c079452a47
10 changed files with 80 additions and 30 deletions
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4
src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs
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@@ -255,9 +255,9 @@ impl TwoBodyConstraintBuilderSimd {
let cfm_factor = SimdReal::splat(params.cfm_factor());
let dt = SimdReal::splat(params.dt);
let inv_dt = SimdReal::splat(params.inv_dt());
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error);
let allowed_lin_err = SimdReal::splat(params.allowed_linear_error());
let erp_inv_dt = SimdReal::splat(params.erp_inv_dt());
let max_penetration_correction = SimdReal::splat(params.max_penetration_correction);
let max_penetration_correction = SimdReal::splat(params.max_penetration_correction());
let warmstart_coeff = SimdReal::splat(params.warmstart_coefficient);
let rb1 = gather![|ii| &bodies[constraint.solver_vel1[ii]]];