diff options
Diffstat (limited to 'src/dynamics/solver/island_solver.rs')
| -rw-r--r-- | src/dynamics/solver/island_solver.rs | 5 |
1 files changed, 3 insertions, 2 deletions
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index aeb2698..9f82182 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -2,7 +2,8 @@ use super::VelocitySolver; use crate::counters::Counters; use crate::data::{BundleSet, ComponentSet, ComponentSetMut}; use crate::dynamics::solver::{ - AnyJointVelocityConstraint, AnyVelocityConstraint, GenericVelocityConstraint, SolverConstraints, + AnyGenericVelocityConstraint, AnyJointVelocityConstraint, AnyVelocityConstraint, + SolverConstraints, }; use crate::dynamics::{ IntegrationParameters, JointGraphEdge, JointIndex, RigidBodyDamping, RigidBodyForces, @@ -13,7 +14,7 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::prelude::{MultibodyJointSet, RigidBodyActivation}; pub struct IslandSolver { - contact_constraints: SolverConstraints<AnyVelocityConstraint, GenericVelocityConstraint>, + contact_constraints: SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint>, joint_constraints: SolverConstraints<AnyJointVelocityConstraint, ()>, velocity_solver: VelocitySolver, } |