Implement multibody joints and the new solver

1 files changed, 3 insertions, 3 deletions

diff --git a/examples3d/convex_decomposition3.rs b/examples3d/convex_decomposition3.rs
index 64c8802..98cf4a9 100644
--- a/examples3d/convex_decomposition3.rs
+++ b/examples3d/convex_decomposition3.rs
@@ -15,7 +15,8 @@ pub fn init_world(testbed: &mut Testbed) {
      */
     let mut bodies = RigidBodySet::new();
     let mut colliders = ColliderSet::new();
-    let joints = JointSet::new();
+    let impulse_joints = ImpulseJointSet::new();
+    let multibody_joints = MultibodyJointSet::new();
 
     /*
      * Ground
@@ -52,7 +53,6 @@ pub fn init_world(testbed: &mut Testbed) {
                 .iter()
                 .map(|v| point![v.0, v.1, v.2])
                 .collect();
-            use std::iter::FromIterator;
             let indices: Vec<_> = model
                 .polygons
                 .into_iter()
@@ -104,7 +104,7 @@ pub fn init_world(testbed: &mut Testbed) {
     /*
      * Set up the testbed.
      */
-    testbed.set_world(bodies, colliders, joints);
+    testbed.set_world(bodies, colliders, impulse_joints, multibody_joints);
     testbed.look_at(point![100.0, 100.0, 100.0], Point::origin());
 }