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| author | eug-vs <eugene@eug-vs.xyz> | 2024-12-15 23:02:16 +0100 |
|---|---|---|
| committer | eug-vs <eugene@eug-vs.xyz> | 2024-12-15 23:02:16 +0100 |
| commit | 4b977589d11427d1c88b85e1c7ed896849573d76 (patch) | |
| tree | 07d01e92a84d46ea5cafb95eaed81b44fb2bd6d5 /physics/src | |
| parent | c3c82ae06405fa2c7bacac1d03d148897321c32b (diff) | |
| download | particle-physics-4b977589d11427d1c88b85e1c7ed896849573d76.tar.gz | |
feat: use much smaller dQ for calculating partial derivative
Diffstat (limited to 'physics/src')
| -rw-r--r-- | physics/src/constraint/mod.rs | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/physics/src/constraint/mod.rs b/physics/src/constraint/mod.rs index b2958ec..e9997f5 100644 --- a/physics/src/constraint/mod.rs +++ b/physics/src/constraint/mod.rs @@ -20,7 +20,7 @@ pub trait Constraint { fn set_jacobian(&mut self, jacobian: RowDVector<Scalar>); fn partial_derivative(&self, q: &DVector<Scalar>) -> RowDVector<Scalar> { - let dq = 0.001; + let dq = 0.00001; let c_original = self.c(&q); let mut result = RowDVector::zeros(q.len()); // The only non-zero components of derivative vector are |