diff options
Diffstat (limited to 'src/dynamics/solver/categorization.rs')
| -rw-r--r-- | src/dynamics/solver/categorization.rs | 6 |
1 files changed, 2 insertions, 4 deletions
diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index c920b69..e3327c6 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -2,7 +2,7 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; pub(crate) fn categorize_contacts( - bodies: &RigidBodySet, + _bodies: &RigidBodySet, // Unused but useful to simplify the parallel code. manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], out_ground: &mut Vec<ContactManifoldIndex>, @@ -10,10 +10,8 @@ pub(crate) fn categorize_contacts( ) { for manifold_i in manifold_indices { let manifold = &manifolds[*manifold_i]; - let rb1 = &bodies[manifold.data.body_pair.body1]; - let rb2 = &bodies[manifold.data.body_pair.body2]; - if !rb1.is_dynamic() || !rb2.is_dynamic() { + if manifold.data.relative_dominance != 0 { out_ground.push(*manifold_i) } else { out_not_ground.push(*manifold_i) |