Implement multibody joints and the new solver

1 files changed, 3 insertions, 3 deletions

diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs
index 0ed12b6..f4b9fa1 100644
--- a/src/geometry/broad_phase_multi_sap/broad_phase.rs
+++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs
@@ -622,7 +622,7 @@ impl BroadPhase {
 
 #[cfg(test)]
 mod test {
-    use crate::dynamics::{IslandManager, JointSet, RigidBodyBuilder, RigidBodySet};
+    use crate::dynamics::{IslandManager, ImpulseJointSet, RigidBodyBuilder, RigidBodySet};
     use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet};
 
     #[test]
@@ -630,7 +630,7 @@ mod test {
         let mut broad_phase = BroadPhase::new();
         let mut bodies = RigidBodySet::new();
         let mut colliders = ColliderSet::new();
-        let mut joints = JointSet::new();
+        let mut impulse_joints = ImpulseJointSet::new();
         let mut islands = IslandManager::new();
 
         let rb = RigidBodyBuilder::new_dynamic().build();
@@ -641,7 +641,7 @@ mod test {
         let mut events = Vec::new();
         broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events);
 
-        bodies.remove(hrb, &mut islands, &mut colliders, &mut joints);
+        bodies.remove(hrb, &mut islands, &mut colliders, &mut impulse_joints);
         broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events);
 
         // Create another body.