Split rigid-bodies and colliders into multiple components

1 files changed, 7 insertions, 6 deletions

diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs
index e3327c6..366a5b3 100644
--- a/src/dynamics/solver/categorization.rs
+++ b/src/dynamics/solver/categorization.rs
@@ -1,8 +1,9 @@
-use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet};
+use crate::data::ComponentSet;
+use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodyType};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 
 pub(crate) fn categorize_contacts(
-    _bodies: &RigidBodySet, // Unused but useful to simplify the parallel code.
+    _bodies: &impl ComponentSet<RigidBodyType>, // Unused but useful to simplify the parallel code.
     manifolds: &[&mut ContactManifold],
     manifold_indices: &[ContactManifoldIndex],
     out_ground: &mut Vec<ContactManifoldIndex>,
@@ -20,7 +21,7 @@ pub(crate) fn categorize_contacts(
 }
 
 pub(crate) fn categorize_joints(
-    bodies: &RigidBodySet,
+    bodies: &impl ComponentSet<RigidBodyType>,
     joints: &[JointGraphEdge],
     joint_indices: &[JointIndex],
     ground_joints: &mut Vec<JointIndex>,
@@ -28,10 +29,10 @@ pub(crate) fn categorize_joints(
 ) {
     for joint_i in joint_indices {
         let joint = &joints[*joint_i].weight;
-        let rb1 = &bodies[joint.body1];
-        let rb2 = &bodies[joint.body2];
+        let status1 = bodies.index(joint.body1.0);
+        let status2 = bodies.index(joint.body2.0);
 
-        if !rb1.is_dynamic() || !rb2.is_dynamic() {
+        if !status1.is_dynamic() || !status2.is_dynamic() {
             ground_joints.push(*joint_i);
         } else {
             nonground_joints.push(*joint_i);