Experiment with incremental island having only one awake island.

2 files changed, 5 insertions, 6 deletions

diff --git a/src/geometry/broad_phase_multi_sap.rs b/src/geometry/broad_phase_multi_sap.rs
index c27e5aa..d5146b3 100644
--- a/src/geometry/broad_phase_multi_sap.rs
+++ b/src/geometry/broad_phase_multi_sap.rs
@@ -634,11 +634,10 @@ impl BroadPhase {
         for body_handle in bodies
             .modified_inactive_set
             .iter()
-            .copied()
-            .chain(islands.active_bodies())
-            .chain(bodies.active_kinematic_set.iter().copied())
+            .chain(islands.active_bodies().iter())
+            .chain(bodies.active_kinematic_set.iter())
         {
-            for handle in &bodies[body_handle].colliders {
+            for handle in &bodies[*body_handle].colliders {
                 let collider = &mut colliders[*handle];
                 let aabb = collider.compute_aabb().loosened(prediction_distance / 2.0);
 
diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs
index 9c6b892..9c9f784 100644
--- a/src/geometry/narrow_phase.rs
+++ b/src/geometry/narrow_phase.rs
@@ -626,9 +626,9 @@ impl NarrowPhase {
                     && (!rb2.is_dynamic() || !islands.is_island_sleeping(rb2.island_id))
                 {
                     let island_index = if !rb1.is_dynamic() {
-                        islands.islands()[rb2.island_id].active_island_id()
+                        0 // islands.islands()[rb2.island_id].active_island_id()
                     } else {
-                        islands.islands()[rb1.island_id].active_island_id()
+                        0 // islands.islands()[rb1.island_id].active_island_id()
                     };
 
                     out[island_index].push(out_manifolds.len());