diff options
Diffstat (limited to 'src/dynamics/solver/parallel_island_solver.rs')
| -rw-r--r-- | src/dynamics/solver/parallel_island_solver.rs | 5 |
1 files changed, 0 insertions, 5 deletions
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs index 463845b..f227e7f 100644 --- a/src/dynamics/solver/parallel_island_solver.rs +++ b/src/dynamics/solver/parallel_island_solver.rs @@ -3,7 +3,6 @@ use std::sync::atomic::{AtomicUsize, Ordering}; use rayon::Scope; use crate::data::{BundleSet, ComponentSet, ComponentSetMut}; -use crate::dynamics::solver::generic_velocity_constraint::GenericVelocityConstraint; use crate::dynamics::solver::{ AnyJointVelocityConstraint, AnyVelocityConstraint, ParallelSolverConstraints, }; @@ -13,7 +12,6 @@ use crate::dynamics::{ RigidBodyType, RigidBodyVelocity, }; use crate::geometry::{ContactManifold, ContactManifoldIndex}; -use crate::math::{Isometry, Real}; use na::DVector; use super::{DeltaVel, ParallelInteractionGroups, ParallelVelocitySolver}; @@ -139,7 +137,6 @@ impl ThreadContext { pub struct ParallelIslandSolver { velocity_solver: ParallelVelocitySolver, - positions: Vec<Isometry<Real>>, parallel_groups: ParallelInteractionGroups, parallel_joint_groups: ParallelInteractionGroups, parallel_contact_constraints: ParallelSolverConstraints<AnyVelocityConstraint>, @@ -157,7 +154,6 @@ impl ParallelIslandSolver { pub fn new() -> Self { Self { velocity_solver: ParallelVelocitySolver::new(), - positions: Vec::new(), parallel_groups: ParallelInteractionGroups::new(), parallel_joint_groups: ParallelInteractionGroups::new(), parallel_contact_constraints: ParallelSolverConstraints::new(), @@ -192,7 +188,6 @@ impl ParallelIslandSolver { self.thread = ThreadContext::new(8); // TODO: could we compute some kind of optimal value here? // Interactions grouping. - let mut j_id = 0; self.parallel_groups.group_interactions( island_id, islands, |