From 9bf1321f8f1d2e116f44c2461a53f302c4ef4171 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Tue, 8 Dec 2020 17:31:49 +0100 Subject: Outsource the contact manifold, SAT, and some shapes. --- src/dynamics/solver/categorization.rs | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) (limited to 'src/dynamics/solver/categorization.rs') diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index 9ddf791..d0a2d0f 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -12,8 +12,8 @@ pub(crate) fn categorize_position_contacts( ) { for manifold_i in manifold_indices { let manifold = &manifolds[*manifold_i]; - 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]; if !rb1.is_dynamic() || !rb2.is_dynamic() { match manifold.kinematics.category { @@ -38,8 +38,8 @@ pub(crate) fn categorize_velocity_contacts( ) { for manifold_i in manifold_indices { let manifold = &manifolds[*manifold_i]; - 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]; if !rb1.is_dynamic() || !rb2.is_dynamic() { out_ground.push(*manifold_i) -- cgit