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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/velocity_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/velocity_solver.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_solver.rs | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs index 91b6be9..1cc43ac 100644 --- a/src/dynamics/solver/velocity_solver.rs +++ b/src/dynamics/solver/velocity_solver.rs @@ -1,6 +1,6 @@ use super::AnyJointVelocityConstraint; use crate::data::{BundleSet, ComponentSet, ComponentSetMut}; -use crate::dynamics::solver::GenericVelocityConstraint; +use crate::dynamics::solver::AnyGenericVelocityConstraint; use crate::dynamics::{ solver::{AnyVelocityConstraint, DeltaVel}, IntegrationParameters, JointGraphEdge, MultibodyJointSet, RigidBodyForces, RigidBodyType, @@ -36,7 +36,7 @@ impl VelocitySolver { manifolds_all: &mut [&mut ContactManifold], joints_all: &mut [JointGraphEdge], contact_constraints: &mut [AnyVelocityConstraint], - generic_contact_constraints: &mut [GenericVelocityConstraint], + generic_contact_constraints: &mut [AnyGenericVelocityConstraint], generic_contact_jacobians: &DVector<Real>, joint_constraints: &mut [AnyJointVelocityConstraint], generic_joint_jacobians: &DVector<Real>, |