Merge remote-tracking branch 'origin/integration' into click-ik

umrover · Apr 19, 2024 · 5db85b6 · 5db85b6
2 parents 822230e + 65c9dc9
commit 5db85b6
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/src/simulator/simulator.physics.cpp b/src/simulator/simulator.physics.cpp
@@ -65,11 +65,9 @@ namespace mrover {
             }
         }
 
-        // TODO(quintin): clean this up
         float updateDuration = std::clamp(std::chrono::duration_cast<std::chrono::duration<float>>(dt).count(), 0.0f, 0.1f);
-        [[maybe_unused]] int simStepCount = mDynamicsWorld->stepSimulation(updateDuration, MAX_SUB_STEPS, 1 / PHYSICS_UPDATE_HZ);
+        int simStepCount = mDynamicsWorld->stepSimulation(updateDuration, MAX_SUB_STEPS, 1.f / PHYSICS_UPDATE_HZ);
 
-        // // TODO(quintin): Figure out why this fails
         if (auto* mlcpSolver = dynamic_cast<btMLCPSolver*>(mDynamicsWorld->getConstraintSolver())) {
             if (int fallbackCount = mlcpSolver->getNumFallbacks()) {
                 NODELET_WARN_STREAM_THROTTLE(1, std::format("MLCP solver failed {} times", fallbackCount));