From 348a339fe350aff6d885cb5a857a0bb6afbea990 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Thu, 31 Dec 2020 10:02:51 +0100 Subject: Remove code related to point-point kinematics. --- src/dynamics/solver/categorization.rs | 24 ++---------------------- 1 file changed, 2 insertions(+), 22 deletions(-) (limited to 'src/dynamics/solver/categorization.rs') diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index 69fe7df..c920b69 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -1,27 +1,7 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet}; -use crate::geometry::{ContactManifold, ContactManifoldIndex, KinematicsCategory}; +use crate::geometry::{ContactManifold, ContactManifoldIndex}; -pub(crate) fn categorize_position_contacts( - bodies: &RigidBodySet, - manifolds: &[&mut ContactManifold], - manifold_indices: &[ContactManifoldIndex], - out_plane_point_ground: &mut Vec, - out_plane_point: &mut Vec, -) { - for manifold_i in manifold_indices { - let manifold = &manifolds[*manifold_i]; - let rb1 = &bodies[manifold.data.body_pair.body1]; - let rb2 = &bodies[manifold.data.body_pair.body2]; - - if !rb1.is_dynamic() || !rb2.is_dynamic() { - out_plane_point_ground.push(*manifold_i) - } else { - out_plane_point.push(*manifold_i) - } - } -} - -pub(crate) fn categorize_velocity_contacts( +pub(crate) fn categorize_contacts( bodies: &RigidBodySet, manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], -- cgit