From 96ecb877e290ad15459258a415aca64ca4af3a69 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 24 Feb 2021 13:26:51 +0100 Subject: Implement dominance. --- src/dynamics/solver/categorization.rs | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) (limited to 'src/dynamics/solver/categorization.rs') diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index c920b69..5a00896 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -2,7 +2,6 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; pub(crate) fn categorize_contacts( - bodies: &RigidBodySet, manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], out_ground: &mut Vec, @@ -10,10 +9,8 @@ pub(crate) fn categorize_contacts( ) { 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() { + if manifold.data.relative_dominance != 0 { out_ground.push(*manifold_i) } else { out_not_ground.push(*manifold_i) -- cgit From 9cdd34c741d6e45b7dcaf797c3704d1bc9dfeaae Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 24 Feb 2021 13:40:26 +0100 Subject: Fix the parallel build. --- src/dynamics/solver/categorization.rs | 1 + 1 file changed, 1 insertion(+) (limited to 'src/dynamics/solver/categorization.rs') diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs index 5a00896..e3327c6 100644 --- a/src/dynamics/solver/categorization.rs +++ b/src/dynamics/solver/categorization.rs @@ -2,6 +2,7 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; pub(crate) fn categorize_contacts( + _bodies: &RigidBodySet, // Unused but useful to simplify the parallel code. manifolds: &[&mut ContactManifold], manifold_indices: &[ContactManifoldIndex], out_ground: &mut Vec, -- cgit