diff options
Diffstat (limited to 'src/dynamics/joint/impulse_joint')
| -rw-r--r-- | src/dynamics/joint/impulse_joint/impulse_joint_set.rs | 30 |
1 files changed, 9 insertions, 21 deletions
diff --git a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs index 6b6d980..1cd177d 100644 --- a/src/dynamics/joint/impulse_joint/impulse_joint_set.rs +++ b/src/dynamics/joint/impulse_joint/impulse_joint_set.rs @@ -3,10 +3,7 @@ use crate::geometry::{InteractionGraph, RigidBodyGraphIndex, TemporaryInteractio use crate::data::arena::Arena; use crate::data::Coarena; -use crate::dynamics::{ - GenericJoint, IslandManager, RigidBodyActivation, RigidBodyHandle, RigidBodyIds, RigidBodySet, - RigidBodyType, -}; +use crate::dynamics::{GenericJoint, IslandManager, RigidBodyHandle, RigidBodySet}; /// The unique identifier of a joint added to the joint set. /// The unique identifier of a collider added to a collider set. @@ -230,26 +227,17 @@ impl ImpulseJointSet { // FIXME: don't iterate through all the interactions. for (i, edge) in self.joint_graph.graph.edges.iter().enumerate() { let joint = &edge.weight; + let rb1 = &bodies[joint.body1]; + let rb2 = &bodies[joint.body2]; - let (status1, activation1, ids1): ( - &RigidBodyType, - &RigidBodyActivation, - &RigidBodyIds, - ) = bodies.index_bundle(joint.body1.0); - let (status2, activation2, ids2): ( - &RigidBodyType, - &RigidBodyActivation, - &RigidBodyIds, - ) = bodies.index_bundle(joint.body2.0); - - if (status1.is_dynamic() || status2.is_dynamic()) - && (!status1.is_dynamic() || !activation1.sleeping) - && (!status2.is_dynamic() || !activation2.sleeping) + if (rb1.is_dynamic() || rb2.is_dynamic()) + && (!rb1.is_dynamic() || !rb1.is_sleeping()) + && (!rb2.is_dynamic() || !rb2.is_sleeping()) { - let island_index = if !status1.is_dynamic() { - ids2.active_island_id + let island_index = if !rb1.is_dynamic() { + rb2.ids.active_island_id } else { - ids1.active_island_id + rb1.ids.active_island_id }; out[island_index].push(i); |