diff options
| -rw-r--r-- | src/dynamics/solver/categorization.rs | 1 | ||||
| -rw-r--r-- | src/dynamics/solver/solver_constraints.rs | 1 |
2 files changed, 2 insertions, 0 deletions
diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index 5a00896..e3327c6 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -2,6 +2,7 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; pub(crate) fn categorize_contacts( + _bodies: &RigidBodySet, // Unused but useful to simplify the parallel code. manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], out_ground: &mut Vec<ContactManifoldIndex>, diff --git a/src/dynamics/solver/solver_constraints.rs b/src/dynamics/solver/solver_constraints.rs index b3ce8c7..b9dd497 100644 --- a/src/dynamics/solver/solver_constraints.rs +++ b/src/dynamics/solver/solver_constraints.rs @@ -51,6 +51,7 @@ impl SolverConstraints<AnyVelocityConstraint, AnyPositionConstraint> { self.not_ground_interactions.clear(); self.ground_interactions.clear(); categorize_contacts( + bodies, manifolds, manifold_indices, &mut self.ground_interactions, |