Fix warnings.

2 files changed, 8 insertions, 20 deletions

diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs
index e12e7af..d173ed4 100644
--- a/src/dynamics/solver/parallel_island_solver.rs
+++ b/src/dynamics/solver/parallel_island_solver.rs
@@ -66,10 +66,8 @@ pub(crate) struct ThreadContext {
     pub num_initialized_constraints: AtomicUsize,
     pub joint_constraint_initialization_index: AtomicUsize,
     pub num_initialized_joint_constraints: AtomicUsize,
-    pub warmstart_contact_index: AtomicUsize,
-    pub num_warmstarted_contacts: AtomicUsize,
-    pub warmstart_joint_index: AtomicUsize,
-    pub num_warmstarted_joints: AtomicUsize,
+    pub warmstart_constraint_index: AtomicUsize,
+    pub num_warmstarted_constraints: AtomicUsize,
     pub solve_interaction_index: AtomicUsize,
     pub num_solved_interactions: AtomicUsize,
     pub impulse_writeback_index: AtomicUsize,
@@ -79,10 +77,6 @@ pub(crate) struct ThreadContext {
     pub num_force_integrated_bodies: AtomicUsize,
     pub num_integrated_bodies: AtomicUsize,
     // Position solver.
-    pub position_constraint_initialization_index: AtomicUsize,
-    pub num_initialized_position_constraints: AtomicUsize,
-    pub position_joint_constraint_initialization_index: AtomicUsize,
-    pub num_initialized_position_joint_constraints: AtomicUsize,
     pub solve_position_interaction_index: AtomicUsize,
     pub num_solved_position_interactions: AtomicUsize,
     pub position_writeback_index: AtomicUsize,
@@ -96,10 +90,8 @@ impl ThreadContext {
             num_initialized_constraints: AtomicUsize::new(0),
             joint_constraint_initialization_index: AtomicUsize::new(0),
             num_initialized_joint_constraints: AtomicUsize::new(0),
-            num_warmstarted_contacts: AtomicUsize::new(0),
-            warmstart_contact_index: AtomicUsize::new(0),
-            num_warmstarted_joints: AtomicUsize::new(0),
-            warmstart_joint_index: AtomicUsize::new(0),
+            num_warmstarted_constraints: AtomicUsize::new(0),
+            warmstart_constraint_index: AtomicUsize::new(0),
             solve_interaction_index: AtomicUsize::new(0),
             num_solved_interactions: AtomicUsize::new(0),
             impulse_writeback_index: AtomicUsize::new(0),
@@ -108,10 +100,6 @@ impl ThreadContext {
             num_force_integrated_bodies: AtomicUsize::new(0),
             body_integration_index: AtomicUsize::new(0),
             num_integrated_bodies: AtomicUsize::new(0),
-            position_constraint_initialization_index: AtomicUsize::new(0),
-            num_initialized_position_constraints: AtomicUsize::new(0),
-            position_joint_constraint_initialization_index: AtomicUsize::new(0),
-            num_initialized_position_joint_constraints: AtomicUsize::new(0),
             solve_position_interaction_index: AtomicUsize::new(0),
             num_solved_position_interactions: AtomicUsize::new(0),
             position_writeback_index: AtomicUsize::new(0),
diff --git a/src/dynamics/solver/parallel_velocity_solver.rs b/src/dynamics/solver/parallel_velocity_solver.rs
index 824442c..54792f8 100644
--- a/src/dynamics/solver/parallel_velocity_solver.rs
+++ b/src/dynamics/solver/parallel_velocity_solver.rs
@@ -41,7 +41,7 @@ impl ParallelVelocitySolver {
             // before starting the next one.
             let mut target_num_desc = 0;
             let mut start_index = thread
-                .warmstart_contact_index
+                .warmstart_constraint_index
                 .fetch_add(thread.batch_size, Ordering::SeqCst);
             let mut batch_size = thread.batch_size;
             let mut shift = 0;
@@ -69,12 +69,12 @@ impl ParallelVelocitySolver {
                             batch_size -= num_solved;
 
                             thread
-                                .num_warmstarted_contacts
+                                .num_warmstarted_constraints
                                 .fetch_add(num_solved, Ordering::SeqCst);
 
                             if batch_size == 0 {
                                 start_index = thread
-                                    .warmstart_contact_index
+                                    .warmstart_constraint_index
                                     .fetch_add(thread.batch_size, Ordering::SeqCst);
                                 start_index -= shift;
                                 batch_size = thread.batch_size;
@@ -83,7 +83,7 @@ impl ParallelVelocitySolver {
                             }
                         }
 
-                        ThreadContext::lock_until_ge(&thread.num_warmstarted_contacts, target_num_desc);
+                        ThreadContext::lock_until_ge(&thread.num_warmstarted_constraints, target_num_desc);
                     }
                 }
             );