diff options
| -rw-r--r-- | src/dynamics/solver/interaction_groups.rs | 1 | ||||
| -rw-r--r-- | src/dynamics/solver/parallel_island_solver.rs | 3 | ||||
| -rw-r--r-- | src/pipeline/physics_pipeline.rs | 1 |
3 files changed, 1 insertions, 4 deletions
diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs index e6be339..6b8de5a 100644 --- a/src/dynamics/solver/interaction_groups.rs +++ b/src/dynamics/solver/interaction_groups.rs @@ -157,6 +157,7 @@ impl InteractionGroups { } } + #[cfg(not(feature = "parallel"))] pub fn clear(&mut self) { #[cfg(feature = "simd-is-enabled")] { diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs index ef0482f..16501b3 100644 --- a/src/dynamics/solver/parallel_island_solver.rs +++ b/src/dynamics/solver/parallel_island_solver.rs @@ -268,7 +268,6 @@ impl ParallelIslandSolver { // See https://internals.rust-lang.org/t/shouldnt-pointers-be-send-sync-or/8818 let thread = &self.thread; let mj_lambdas = std::sync::atomic::AtomicPtr::new(&mut self.mj_lambdas as *mut _); - let positions = std::sync::atomic::AtomicPtr::new(&mut self.positions as *mut _); let bodies = std::sync::atomic::AtomicPtr::new(bodies as *mut _); let manifolds = std::sync::atomic::AtomicPtr::new(manifolds as *mut _); let joints = std::sync::atomic::AtomicPtr::new(joints as *mut _); @@ -281,8 +280,6 @@ impl ParallelIslandSolver { // Transmute *mut -> &mut let mj_lambdas: &mut Vec<DeltaVel<Real>> = unsafe { std::mem::transmute(mj_lambdas.load(Ordering::Relaxed)) }; - let positions: &mut Vec<Isometry<Real>> = - unsafe { std::mem::transmute(positions.load(Ordering::Relaxed)) }; let bodies: &mut RigidBodySet = unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) }; let manifolds: &mut Vec<&mut ContactManifold> = diff --git a/src/pipeline/physics_pipeline.rs b/src/pipeline/physics_pipeline.rs index bab10b7..20e8395 100644 --- a/src/pipeline/physics_pipeline.rs +++ b/src/pipeline/physics_pipeline.rs @@ -126,7 +126,6 @@ impl PhysicsPipeline { #[cfg(feature = "parallel")] { - use crate::geometry::ContactManifold; use rayon::prelude::*; use std::sync::atomic::Ordering; |