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cleanup

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This commit is contained in:
Emil Ernerfeldt
2021-02-17 19:38:57 +01:00
parent 3f26b46196
commit ede4f0f770
3 changed files with 10 additions and 12 deletions
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18
src/dynamics/solver/joint_constraint/fixed_velocity_constraint.rs
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@@ -104,13 +104,12 @@ impl FixedVelocityConstraint {
#[cfg(feature = "dim2")]
let mut rhs =
params.velocity_solve_fraction * Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel);
Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel) * params.velocity_solve_fraction;
#[cfg(feature = "dim3")]
let mut rhs = params.velocity_solve_fraction
* Vector6::new(
lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z,
);
let mut rhs = Vector6::new(
lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z,
) * params.velocity_solve_fraction;
let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt();
if velocity_based_erp_inv_dt != 0.0 {
@@ -316,12 +315,11 @@ impl FixedVelocityGroundConstraint {
#[cfg(feature = "dim2")]
let mut rhs =
params.velocity_solve_fraction * Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel);
Vector3::new(lin_dvel.x, lin_dvel.y, ang_dvel) * params.velocity_solve_fraction;
#[cfg(feature = "dim3")]
let mut rhs = params.velocity_solve_fraction
* Vector6::new(
lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z,
);
let mut rhs = Vector6::new(
lin_dvel.x, lin_dvel.y, lin_dvel.z, ang_dvel.x, ang_dvel.y, ang_dvel.z,
) * params.velocity_solve_fraction;
let velocity_based_erp_inv_dt = params.velocity_based_erp_inv_dt();
if velocity_based_erp_inv_dt != 0.0 {