Fix examples.

2 files changed, 18 insertions, 38 deletions

diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs
index d85eae3..8e69d24 100644
--- a/src/geometry/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap.rs
@@ -700,16 +700,13 @@ impl BroadPhase {
 mod test {
     use crate::dynamics::{JointSet, RigidBodyBuilder, RigidBodySet};
     use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet, NarrowPhase};
-    use crate::pipeline::PhysicsPipeline;
 
     #[test]
     fn test_add_update_remove() {
         let mut broad_phase = BroadPhase::new();
-        let mut narrow_phase = NarrowPhase::new();
         let mut bodies = RigidBodySet::new();
         let mut colliders = ColliderSet::new();
         let mut joints = JointSet::new();
-        let mut pipeline = PhysicsPipeline::new();
 
         let rb = RigidBodyBuilder::new_dynamic().build();
         let co = ColliderBuilder::ball(0.5).build();
@@ -718,15 +715,8 @@ mod test {
 
         broad_phase.update_aabbs(0.0, &bodies, &mut colliders);
 
-        pipeline.remove_rigid_body(
-            hrb,
-            &mut broad_phase,
-            &mut narrow_phase,
-            &mut bodies,
-            &mut colliders,
-            &mut joints,
-        );
-
+        bodies.remove(hrb, &mut colliders, &mut joints);
+        broad_phase.maintain(&mut colliders);
         broad_phase.update_aabbs(0.0, &bodies, &mut colliders);
 
         // Create another body.
diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs
index 462b341..47fd260 100644
--- a/src/pipeline/physics_pipeline.rs
+++ b/src/pipeline/physics_pipeline.rs
@@ -316,14 +316,7 @@ mod test {
 
         let to_delete = [h1, h2, h3, h4];
         for h in &to_delete {
-            pipeline.remove_rigid_body(
-                *h,
-                &mut bf,
-                &mut nf,
-                &mut bodies,
-                &mut colliders,
-                &mut joints,
-            );
+            bodies.remove(*h, &mut colliders, &mut joints);
         }
 
         pipeline.step(
@@ -342,30 +335,27 @@ mod test {
     fn rigid_body_removal_snapshot_handle_determinism() {
         let mut colliders = ColliderSet::new();
         let mut joints = JointSet::new();
-        let mut pipeline = PhysicsPipeline::new();
-        let mut bf = BroadPhase::new();
-        let mut nf = NarrowPhase::new();
 
-        let mut set = RigidBodySet::new();
+        let mut bodies = RigidBodySet::new();
         let rb = RigidBodyBuilder::new_dynamic().build();
-        let h1 = set.insert(rb.clone());
-        let h2 = set.insert(rb.clone());
-        let h3 = set.insert(rb.clone());
+        let h1 = bodies.insert(rb.clone());
+        let h2 = bodies.insert(rb.clone());
+        let h3 = bodies.insert(rb.clone());
 
-        pipeline.remove_rigid_body(h1, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
-        pipeline.remove_rigid_body(h3, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
-        pipeline.remove_rigid_body(h2, &mut bf, &mut nf, &mut set, &mut colliders, &mut joints);
+        bodies.remove(h1, &mut colliders, &mut joints);
+        bodies.remove(h3, &mut colliders, &mut joints);
+        bodies.remove(h2, &mut colliders, &mut joints);
 
-        let ser_set = bincode::serialize(&set).unwrap();
-        let mut set2: RigidBodySet = bincode::deserialize(&ser_set).unwrap();
+        let ser_bodies = bincode::serialize(&bodies).unwrap();
+        let mut bodies2: RigidBodySet = bincode::deserialize(&ser_bodies).unwrap();
 
-        let h1a = set.insert(rb.clone());
-        let h2a = set.insert(rb.clone());
-        let h3a = set.insert(rb.clone());
+        let h1a = bodies.insert(rb.clone());
+        let h2a = bodies.insert(rb.clone());
+        let h3a = bodies.insert(rb.clone());
 
-        let h1b = set2.insert(rb.clone());
-        let h2b = set2.insert(rb.clone());
-        let h3b = set2.insert(rb.clone());
+        let h1b = bodies2.insert(rb.clone());
+        let h2b = bodies2.insert(rb.clone());
+        let h3b = bodies2.insert(rb.clone());
 
         assert_eq!(h1a, h1b);
         assert_eq!(h2a, h2b);