diff options
Diffstat (limited to 'src/dynamics/ccd/toi_entry.rs')
| -rw-r--r-- | src/dynamics/ccd/toi_entry.rs | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs index 719f3c5..3f4f5f2 100644 --- a/src/dynamics/ccd/toi_entry.rs +++ b/src/dynamics/ccd/toi_entry.rs @@ -1,6 +1,6 @@ use crate::dynamics::{RigidBody, RigidBodyHandle}; use crate::geometry::{Collider, ColliderHandle}; -use crate::math::Real; +use crate::math::*; use parry::query::{NonlinearRigidMotion, QueryDispatcher}; #[derive(Copy, Clone, Debug)] @@ -57,13 +57,13 @@ impl TOIEntry { } let linvel1 = frozen1.is_none() as u32 as Real - * rb1.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero()); + * rb1.map(|b| b.integrated_vels.linvel).unwrap_or_default(); let linvel2 = frozen2.is_none() as u32 as Real - * rb2.map(|b| b.integrated_vels.linvel).unwrap_or(na::zero()); + * rb2.map(|b| b.integrated_vels.linvel).unwrap_or_default(); let angvel1 = frozen1.is_none() as u32 as Real - * rb1.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero()); + * rb1.map(|b| b.integrated_vels.angvel).unwrap_or_default(); let angvel2 = frozen2.is_none() as u32 as Real - * rb2.map(|b| b.integrated_vels.angvel).unwrap_or(na::zero()); + * rb2.map(|b| b.integrated_vels.angvel).unwrap_or_default(); #[cfg(feature = "dim2")] let vel12 = (linvel2 - linvel1).norm() @@ -154,7 +154,7 @@ impl TOIEntry { } fn body_motion(rb: &RigidBody) -> NonlinearRigidMotion { - if rb.ccd.ccd_active { + if rb.ccd.active { NonlinearRigidMotion::new( rb.pos.position, rb.mprops.local_mprops.local_com, |