diff options
Diffstat (limited to 'src/dynamics/solver/island_solver.rs')
| -rw-r--r-- | src/dynamics/solver/island_solver.rs | 8 |
1 files changed, 3 insertions, 5 deletions
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index 36c42bd..90c8d90 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -2,8 +2,7 @@ use super::VelocitySolver; use crate::counters::Counters; use crate::data::{ComponentSet, ComponentSetMut}; use crate::dynamics::solver::{ - AnyGenericVelocityConstraint, AnyJointVelocityConstraint, AnyVelocityConstraint, - SolverConstraints, + AnyJointVelocityConstraint, AnyVelocityConstraint, SolverConstraints, }; use crate::dynamics::{ IntegrationParameters, JointGraphEdge, JointIndex, RigidBodyDamping, RigidBodyForces, @@ -14,8 +13,8 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::prelude::MultibodyJointSet; pub struct IslandSolver { - contact_constraints: SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint>, - joint_constraints: SolverConstraints<AnyJointVelocityConstraint, ()>, + contact_constraints: SolverConstraints<AnyVelocityConstraint>, + joint_constraints: SolverConstraints<AnyJointVelocityConstraint>, velocity_solver: VelocitySolver, } @@ -94,7 +93,6 @@ impl IslandSolver { manifolds, impulse_joints, &mut self.contact_constraints.velocity_constraints, - &mut self.contact_constraints.generic_velocity_constraints, &self.contact_constraints.generic_jacobians, &mut self.joint_constraints.velocity_constraints, &self.joint_constraints.generic_jacobians, |