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Diffstat (limited to 'src/dynamics/solver/categorization.rs')
| -rw-r--r-- | src/dynamics/solver/categorization.rs | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index 0083388..06ba340 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -1,9 +1,8 @@ -use crate::data::ComponentSet; -use crate::dynamics::{JointGraphEdge, JointIndex, MultibodyJointSet, RigidBodyType}; +use crate::dynamics::{JointGraphEdge, JointIndex, MultibodyJointSet, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; pub(crate) fn categorize_contacts( - _bodies: &impl ComponentSet<RigidBodyType>, // Unused but useful to simplify the parallel code. + _bodies: &RigidBodySet, // Unused but useful to simplify the parallel code. multibody_joints: &MultibodyJointSet, manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], @@ -40,7 +39,7 @@ pub(crate) fn categorize_contacts( } pub(crate) fn categorize_joints( - bodies: &impl ComponentSet<RigidBodyType>, + bodies: &RigidBodySet, multibody_joints: &MultibodyJointSet, impulse_joints: &[JointGraphEdge], joint_indices: &[JointIndex], |