diff options
Diffstat (limited to 'src/dynamics/solver/position_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/position_constraint.rs | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/dynamics/solver/position_constraint.rs b/src/dynamics/solver/position_constraint.rs index 69fcf57..b329e39 100644 --- a/src/dynamics/solver/position_constraint.rs +++ b/src/dynamics/solver/position_constraint.rs @@ -88,8 +88,8 @@ impl PositionConstraint { out_constraints: &mut Vec<AnyPositionConstraint>, push: bool, ) { - let rb1 = &bodies[manifold.body_pair.body1]; - let rb2 = &bodies[manifold.body_pair.body2]; + let rb1 = &bodies[manifold.data.body_pair.body1]; + let rb2 = &bodies[manifold.data.body_pair.body2]; let shift1 = manifold.local_n1 * -manifold.kinematics.radius1; let shift2 = manifold.local_n2 * -manifold.kinematics.radius2; let radius = @@ -104,8 +104,8 @@ impl PositionConstraint { let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS]; for l in 0..manifold_points.len() { - local_p1[l] = manifold.delta1 * (manifold_points[l].local_p1 + shift1); - local_p2[l] = manifold.delta2 * (manifold_points[l].local_p2 + shift2); + local_p1[l] = manifold.data.delta1 * (manifold_points[l].local_p1 + shift1); + local_p2[l] = manifold.data.delta2 * (manifold_points[l].local_p2 + shift2); } let constraint = PositionConstraint { @@ -132,10 +132,10 @@ impl PositionConstraint { } } else { if manifold.kinematics.category == KinematicsCategory::PointPoint { - out_constraints[manifold.constraint_index + l] = + out_constraints[manifold.data.constraint_index + l] = AnyPositionConstraint::NongroupedPointPoint(constraint); } else { - out_constraints[manifold.constraint_index + l] = + out_constraints[manifold.data.constraint_index + l] = AnyPositionConstraint::NongroupedPlanePoint(constraint); } } |