From 7545e06cb15d6e851e5dee7d3761901e5d40f271 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 30 Dec 2020 12:03:25 +0100 Subject: Attempt to combine the position constraints initialization with the velocity constraints initialization. --- src/dynamics/solver/categorization.rs | 12 ++---------- 1 file changed, 2 insertions(+), 10 deletions(-) (limited to 'src/dynamics/solver/categorization.rs') diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index d0a2d0f..69fe7df 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -5,9 +5,7 @@ pub(crate) fn categorize_position_contacts( bodies: &RigidBodySet, manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], - out_point_point_ground: &mut Vec, out_plane_point_ground: &mut Vec, - out_point_point: &mut Vec, out_plane_point: &mut Vec, ) { for manifold_i in manifold_indices { @@ -16,15 +14,9 @@ pub(crate) fn categorize_position_contacts( let rb2 = &bodies[manifold.data.body_pair.body2]; if !rb1.is_dynamic() || !rb2.is_dynamic() { - match manifold.kinematics.category { - KinematicsCategory::PointPoint => out_point_point_ground.push(*manifold_i), - KinematicsCategory::PlanePoint => out_plane_point_ground.push(*manifold_i), - } + out_plane_point_ground.push(*manifold_i) } else { - match manifold.kinematics.category { - KinematicsCategory::PointPoint => out_point_point.push(*manifold_i), - KinematicsCategory::PlanePoint => out_plane_point.push(*manifold_i), - } + out_plane_point.push(*manifold_i) } } } -- cgit