diff options
Diffstat (limited to 'src/dynamics/solver/categorization.rs')
| -rw-r--r-- | src/dynamics/solver/categorization.rs | 8 |
1 files changed, 4 insertions, 4 deletions
diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index 06ba340..d110971 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -50,18 +50,18 @@ pub(crate) fn categorize_joints( ) { for joint_i in joint_indices { let joint = &impulse_joints[*joint_i].weight; - let status1 = bodies.index(joint.body1.0); - let status2 = bodies.index(joint.body2.0); + let rb1 = &bodies[joint.body1.0]; + let rb2 = &bodies[joint.body2.0]; if multibody_joints.rigid_body_link(joint.body1).is_some() || multibody_joints.rigid_body_link(joint.body2).is_some() { - if !status1.is_dynamic() || !status2.is_dynamic() { + if !rb1.is_dynamic() || !rb2.is_dynamic() { generic_ground_joints.push(*joint_i); } else { generic_nonground_joints.push(*joint_i); } - } else if !status1.is_dynamic() || !status2.is_dynamic() { + } else if !rb1.is_dynamic() || !rb2.is_dynamic() { ground_joints.push(*joint_i); } else { nonground_joints.push(*joint_i); |