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| author | Sébastien Crozet <developer@crozet.re> | 2022-01-16 08:20:22 -0800 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-01-16 08:20:22 -0800 |
| commit | 1880619d29029c99985ffae9ed12a1c8d2cc796b (patch) | |
| tree | 806e7d950015875ebfcca5520784aea6e7c5ae10 /src/dynamics/solver/island_solver.rs | |
| parent | 4454a845e98b990abf3929ca46b59d0fca5a18ec (diff) | |
| parent | 0703e5527fd95d86bb6621e61dbcb1a6e7f9329a (diff) | |
| download | rapier-1880619d29029c99985ffae9ed12a1c8d2cc796b.tar.gz rapier-1880619d29029c99985ffae9ed12a1c8d2cc796b.tar.bz2 rapier-1880619d29029c99985ffae9ed12a1c8d2cc796b.zip | |
Merge pull request #277 from dimforge/solver-fixes
Fix some solver issues
Diffstat (limited to 'src/dynamics/solver/island_solver.rs')
| -rw-r--r-- | src/dynamics/solver/island_solver.rs | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index aeb2698..9f82182 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -2,7 +2,8 @@ use super::VelocitySolver; use crate::counters::Counters; use crate::data::{BundleSet, ComponentSet, ComponentSetMut}; use crate::dynamics::solver::{ - AnyJointVelocityConstraint, AnyVelocityConstraint, GenericVelocityConstraint, SolverConstraints, + AnyGenericVelocityConstraint, AnyJointVelocityConstraint, AnyVelocityConstraint, + SolverConstraints, }; use crate::dynamics::{ IntegrationParameters, JointGraphEdge, JointIndex, RigidBodyDamping, RigidBodyForces, @@ -13,7 +14,7 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::prelude::{MultibodyJointSet, RigidBodyActivation}; pub struct IslandSolver { - contact_constraints: SolverConstraints<AnyVelocityConstraint, GenericVelocityConstraint>, + contact_constraints: SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint>, joint_constraints: SolverConstraints<AnyJointVelocityConstraint, ()>, velocity_solver: VelocitySolver, } |