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Curvature regulators #80

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glen merged 21 commits from Vectornaut/dyna3:curvature-regulators into main 2025-04-21 23:40:43 +00:00
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app-proto/src/assembly.rs
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@ -422,16 +422,16 @@ impl Assembly {
// set up the constraint problem // set up the constraint problem
let problem = self.elements.with_untracked(|elts| { let problem = self.elements.with_untracked(|elts| {
let mut problem_to_be = ConstraintProblem::new(elts.len()); let mut problem = ConstraintProblem::new(elts.len());
for (_, elt) in elts { for (_, elt) in elts {
elt.pose(&mut problem_to_be, elts); elt.pose(&mut problem, elts);
} }
self.regulators.with_untracked(|regs| { self.regulators.with_untracked(|regs| {
for (_, reg) in regs { for (_, reg) in regs {
reg.pose(&mut problem_to_be, elts); reg.pose(&mut problem, elts);
} }
}); });
problem_to_be problem
}); });
/* DEBUG */ /* DEBUG */