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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-24 13:26:51 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-24 13:26:51 +0100 |
| commit | 96ecb877e290ad15459258a415aca64ca4af3a69 (patch) | |
| tree | ead6af02da8c021841dfe3f7ba5fa75e8339a12d /src/dynamics/solver/categorization.rs | |
| parent | 3cc2738e5fdcb0d25818b550cdff93eab75f1b20 (diff) | |
| download | rapier-96ecb877e290ad15459258a415aca64ca4af3a69.tar.gz rapier-96ecb877e290ad15459258a415aca64ca4af3a69.tar.bz2 rapier-96ecb877e290ad15459258a415aca64ca4af3a69.zip | |
Implement dominance.
Diffstat (limited to 'src/dynamics/solver/categorization.rs')
| -rw-r--r-- | src/dynamics/solver/categorization.rs | 5 |
1 files changed, 1 insertions, 4 deletions
diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index c920b69..5a00896 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -2,7 +2,6 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; pub(crate) fn categorize_contacts( - bodies: &RigidBodySet, manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], out_ground: &mut Vec<ContactManifoldIndex>, @@ -10,10 +9,8 @@ pub(crate) fn categorize_contacts( ) { for manifold_i in manifold_indices { let manifold = &manifolds[*manifold_i]; - let rb1 = &bodies[manifold.data.body_pair.body1]; - let rb2 = &bodies[manifold.data.body_pair.body2]; - if !rb1.is_dynamic() || !rb2.is_dynamic() { + if manifold.data.relative_dominance != 0 { out_ground.push(*manifold_i) } else { out_not_ground.push(*manifold_i) |