Rework the event system

5 files changed, 16 insertions, 16 deletions

diff --git a/src/dynamics/solver/joint_constraint/ball_position_constraint.rs b/src/dynamics/solver/joint_constraint/ball_position_constraint.rs
index 159cc77..0227960 100644
--- a/src/dynamics/solver/joint_constraint/ball_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/ball_position_constraint.rs
@@ -34,8 +34,8 @@ impl BallPositionConstraint {
         let (mprops2, ids2) = rb2;
 
         Self {
-            local_com1: mprops1.mass_properties.local_com,
-            local_com2: mprops2.mass_properties.local_com,
+            local_com1: mprops1.local_mprops.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             im1: mprops1.effective_inv_mass,
             im2: mprops2.effective_inv_mass,
             ii1: mprops1.effective_world_inv_inertia_sqrt.squared(),
@@ -131,7 +131,7 @@ impl BallPositionGroundConstraint {
                 ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
                 local_anchor2: cparams.local_anchor1,
                 position2: ids2.active_set_offset,
-                local_com2: mprops2.mass_properties.local_com,
+                local_com2: mprops2.local_mprops.local_com,
             }
         } else {
             Self {
@@ -140,7 +140,7 @@ impl BallPositionGroundConstraint {
                 ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
                 local_anchor2: cparams.local_anchor2,
                 position2: ids2.active_set_offset,
-                local_com2: mprops2.mass_properties.local_com,
+                local_com2: mprops2.local_mprops.local_com,
             }
         }
     }
diff --git a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
index 6b00639..ea462ed 100644
--- a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
@@ -40,8 +40,8 @@ impl WBallPositionConstraint {
         let (mprops1, ids1) = rbs1;
         let (mprops2, ids2) = rbs2;
 
-        let local_com1 = Point::from(gather![|ii| mprops1[ii].mass_properties.local_com]);
-        let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
+        let local_com1 = Point::from(gather![|ii| mprops1[ii].local_mprops.local_com]);
+        let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
         let im1 = SimdReal::from(gather![|ii| mprops1[ii].effective_inv_mass]);
         let im2 = SimdReal::from(gather![|ii| mprops2[ii].effective_inv_mass]);
         let ii1 = AngularInertia::<SimdReal>::from(gather![
@@ -169,7 +169,7 @@ impl WBallPositionGroundConstraint {
             cparams[ii].local_anchor2
         }]);
         let position2 = gather![|ii| ids2[ii].active_set_offset];
-        let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
+        let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
 
         Self {
             anchor1,
diff --git a/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs b/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
index f8945c3..3ab13f7 100644
--- a/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
@@ -46,8 +46,8 @@ impl FixedPositionConstraint {
             im2,
             ii1,
             ii2,
-            local_com1: mprops1.mass_properties.local_com,
-            local_com2: mprops2.mass_properties.local_com,
+            local_com1: mprops1.local_mprops.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             lin_inv_lhs,
             ang_inv_lhs,
         }
@@ -125,7 +125,7 @@ impl FixedPositionGroundConstraint {
             position2: ids2.active_set_offset,
             im2: mprops2.effective_inv_mass,
             ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
-            local_com2: mprops2.mass_properties.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             impulse: 0.0,
         }
     }
diff --git a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs
index 76901b1..a7b5ea0 100644
--- a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs
@@ -41,8 +41,8 @@ impl GenericPositionConstraint {
             im2,
             ii1,
             ii2,
-            local_com1: rb1.mass_properties.local_com,
-            local_com2: rb2.mass_properties.local_com,
+            local_com1: rb1.local_mprops.local_com,
+            local_com2: rb2.local_mprops.local_com,
             joint: *joint,
         }
     }
@@ -215,7 +215,7 @@ impl GenericPositionGroundConstraint {
             position2: rb2.active_set_offset,
             im2: rb2.effective_inv_mass,
             ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
-            local_com2: rb2.mass_properties.local_com,
+            local_com2: rb2.local_mprops.local_com,
             joint: *joint,
         }
     }
diff --git a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
index 1b3e23a..731d0e2 100644
--- a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
@@ -51,8 +51,8 @@ impl RevolutePositionConstraint {
             ii1,
             ii2,
             ang_inv_lhs,
-            local_com1: mprops1.mass_properties.local_com,
-            local_com2: mprops2.mass_properties.local_com,
+            local_com1: mprops1.local_mprops.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             local_anchor1: cparams.local_anchor1,
             local_anchor2: cparams.local_anchor2,
             local_axis1: cparams.local_axis1,
@@ -183,7 +183,7 @@ impl RevolutePositionGroundConstraint {
             local_anchor2,
             im2: mprops2.effective_inv_mass,
             ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
-            local_com2: mprops2.mass_properties.local_com,
+            local_com2: mprops2.local_mprops.local_com,
             axis1,
             local_axis2,
             position2: ids2.active_set_offset,