Attempt to combine the position constraints initialization with the velocity constraints initialization.

1 files changed, 2 insertions, 10 deletions

diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs
index d0a2d0f..69fe7df 100644
--- a/src/dynamics/solver/categorization.rs
+++ b/src/dynamics/solver/categorization.rs
@@ -5,9 +5,7 @@ pub(crate) fn categorize_position_contacts(
     bodies: &RigidBodySet,
     manifolds: &[&mut ContactManifold],
     manifold_indices: &[ContactManifoldIndex],
-    out_point_point_ground: &mut Vec<ContactManifoldIndex>,
     out_plane_point_ground: &mut Vec<ContactManifoldIndex>,
-    out_point_point: &mut Vec<ContactManifoldIndex>,
     out_plane_point: &mut Vec<ContactManifoldIndex>,
 ) {
     for manifold_i in manifold_indices {
@@ -16,15 +14,9 @@ pub(crate) fn categorize_position_contacts(
         let rb2 = &bodies[manifold.data.body_pair.body2];
 
         if !rb1.is_dynamic() || !rb2.is_dynamic() {
-            match manifold.kinematics.category {
-                KinematicsCategory::PointPoint => out_point_point_ground.push(*manifold_i),
-                KinematicsCategory::PlanePoint => out_plane_point_ground.push(*manifold_i),
-            }
+            out_plane_point_ground.push(*manifold_i)
         } else {
-            match manifold.kinematics.category {
-                KinematicsCategory::PointPoint => out_point_point.push(*manifold_i),
-                KinematicsCategory::PlanePoint => out_plane_point.push(*manifold_i),
-            }
+            out_plane_point.push(*manifold_i)
         }
     }
 }