From 9cdd34c741d6e45b7dcaf797c3704d1bc9dfeaae Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 24 Feb 2021 13:40:26 +0100
Subject: Fix the parallel build.

---
 src/dynamics/solver/categorization.rs     | 1 +
 src/dynamics/solver/solver_constraints.rs | 1 +
 2 files changed, 2 insertions(+)

(limited to 'src/dynamics/solver')

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<ContactManifoldIndex>,
diff --git a/src/dynamics/solver/solver_constraints.rs b/src/dynamics/solver/solver_constraints.rs
index b3ce8c7..b9dd497 100644
--- a/src/dynamics/solver/solver_constraints.rs
+++ b/src/dynamics/solver/solver_constraints.rs
@@ -51,6 +51,7 @@ impl SolverConstraints<AnyVelocityConstraint, AnyPositionConstraint> {
         self.not_ground_interactions.clear();
         self.ground_interactions.clear();
         categorize_contacts(
+            bodies,
             manifolds,
             manifold_indices,
             &mut self.ground_interactions,
-- 
cgit