diff options
| author | Sébastien Crozet <developer@crozet.re> | 2021-02-25 15:38:10 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2021-02-25 15:38:10 +0100 |
| commit | f41a6fb76d2a762e7d0680dec25e2a48b701606e (patch) | |
| tree | 641526f68ab04c1b60adc2570b32b8f36540cb18 /src/dynamics/solver/categorization.rs | |
| parent | 8e40ab758d85f2dcb46b8346178abd13829961a5 (diff) | |
| parent | 9cdd34c741d6e45b7dcaf797c3704d1bc9dfeaae (diff) | |
| download | rapier-f41a6fb76d2a762e7d0680dec25e2a48b701606e.tar.gz rapier-f41a6fb76d2a762e7d0680dec25e2a48b701606e.tar.bz2 rapier-f41a6fb76d2a762e7d0680dec25e2a48b701606e.zip | |
Merge pull request #122 from dimforge/dominance
Implement dominance groups
Diffstat (limited to 'src/dynamics/solver/categorization.rs')
| -rw-r--r-- | src/dynamics/solver/categorization.rs | 6 |
1 files changed, 2 insertions, 4 deletions
diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index c920b69..e3327c6 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -2,7 +2,7 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; pub(crate) fn categorize_contacts( - bodies: &RigidBodySet, + _bodies: &RigidBodySet, // Unused but useful to simplify the parallel code. manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], out_ground: &mut Vec<ContactManifoldIndex>, @@ -10,10 +10,8 @@ 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) |