diff options
Diffstat (limited to 'src/dynamics/solver/contact_constraint/one_body_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/contact_constraint/one_body_constraint.rs | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/dynamics/solver/contact_constraint/one_body_constraint.rs b/src/dynamics/solver/contact_constraint/one_body_constraint.rs index 57931cd..be108a4 100644 --- a/src/dynamics/solver/contact_constraint/one_body_constraint.rs +++ b/src/dynamics/solver/contact_constraint/one_body_constraint.rs @@ -76,7 +76,7 @@ impl OneBodyConstraintBuilder { let rb1 = handle1 .map(|h| SolverBody::from(&bodies[h])) - .unwrap_or_else(SolverBody::default); + .unwrap_or_default(); let rb2 = &bodies[handle2.unwrap()]; let vels2 = &rb2.vels; @@ -334,7 +334,7 @@ impl OneBodyConstraint { solve_normal: bool, solve_friction: bool, ) { - let mut solver_vel2 = solver_vels[self.solver_vel2 as usize]; + let mut solver_vel2 = solver_vels[self.solver_vel2]; OneBodyConstraintElement::solve_group( self.cfm_factor, @@ -349,7 +349,7 @@ impl OneBodyConstraint { solve_friction, ); - solver_vels[self.solver_vel2 as usize] = solver_vel2; + solver_vels[self.solver_vel2] = solver_vel2; } // FIXME: duplicated code. This is exactly the same as in the two-body velocity constraint. |