diff options
Diffstat (limited to 'src')
| -rw-r--r-- | src/dynamics/ccd/toi_entry.rs | 1 | ||||
| -rw-r--r-- | src/dynamics/mod.rs | 11 | ||||
| -rw-r--r-- | src/geometry/collider.rs | 1 | ||||
| -rw-r--r-- | src/pipeline/query_pipeline.rs | 2 |
4 files changed, 6 insertions, 9 deletions
diff --git a/src/dynamics/ccd/toi_entry.rs b/src/dynamics/ccd/toi_entry.rs index cc6773c..f1066e0 100644 --- a/src/dynamics/ccd/toi_entry.rs +++ b/src/dynamics/ccd/toi_entry.rs @@ -130,7 +130,6 @@ impl TOIEntry { fn body_motion(body: &RigidBody) -> NonlinearRigidMotion { if body.is_ccd_active() { NonlinearRigidMotion::new( - 0.0, body.position, body.mass_properties.local_com, body.linvel, diff --git a/src/dynamics/mod.rs b/src/dynamics/mod.rs index 751f6f9..53d1b5b 100644 --- a/src/dynamics/mod.rs +++ b/src/dynamics/mod.rs @@ -1,6 +1,9 @@ //! Structures related to dynamics: bodies, joints, etc. +pub use self::ccd::CCDSolver; +pub use self::coefficient_combine_rule::CoefficientCombineRule; pub use self::integration_parameters::IntegrationParameters; +pub(crate) use self::joint::JointGraphEdge; pub(crate) use self::joint::JointIndex; #[cfg(feature = "dim3")] pub use self::joint::RevoluteJoint; @@ -14,18 +17,14 @@ pub use self::joint::{ PrismaticJoint, SpringModel, // GenericJoint }; +pub(crate) use self::rigid_body::RigidBodyChanges; pub use self::rigid_body::{ActivationStatus, BodyStatus, RigidBody, RigidBodyBuilder}; pub use self::rigid_body_set::{BodyPair, RigidBodyHandle, RigidBodySet}; -pub use parry::mass_properties::MassProperties; -// #[cfg(not(feature = "parallel"))] -pub use self::ccd::CCDSolver; -pub use self::coefficient_combine_rule::CoefficientCombineRule; -pub(crate) use self::joint::JointGraphEdge; -pub(crate) use self::rigid_body::RigidBodyChanges; #[cfg(not(feature = "parallel"))] pub(crate) use self::solver::IslandSolver; #[cfg(feature = "parallel")] pub(crate) use self::solver::ParallelIslandSolver; +pub use parry::mass_properties::MassProperties; mod ccd; mod coefficient_combine_rule; diff --git a/src/geometry/collider.rs b/src/geometry/collider.rs index 529d2f5..2b08a96 100644 --- a/src/geometry/collider.rs +++ b/src/geometry/collider.rs @@ -234,6 +234,7 @@ impl Collider { /// cloned first so that `self` contains a unique copy of that /// shape that you can modify. pub fn shape_mut(&mut self) -> &mut dyn Shape { + self.changes.insert(ColliderChanges::SHAPE); self.shape.make_mut() } diff --git a/src/pipeline/query_pipeline.rs b/src/pipeline/query_pipeline.rs index e5bb581..cb56141 100644 --- a/src/pipeline/query_pipeline.rs +++ b/src/pipeline/query_pipeline.rs @@ -500,7 +500,6 @@ impl QueryPipeline { shape_vel: &Vector<Real>, shape: &dyn Shape, max_toi: Real, - target_distance: Real, query_groups: InteractionGroups, filter: Option<&dyn Fn(ColliderHandle, &Collider) -> bool>, ) -> Option<(ColliderHandle, TOI)> { @@ -512,7 +511,6 @@ impl QueryPipeline { &pipeline_shape, shape, max_toi, - target_distance, ); self.quadtree.traverse_best_first(&mut visitor).map(|h| h.1) } |