From f74b8401ad9ef50b8cdbf1f43a2b21f6c42b0ebc Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 2 Jan 2022 14:47:40 +0100 Subject: Implement multibody joints and the new solver --- src/geometry/broad_phase_multi_sap/broad_phase.rs | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) (limited to 'src/geometry/broad_phase_multi_sap') diff --git a/src/geometry/broad_phase_multi_sap/broad_phase.rs b/src/geometry/broad_phase_multi_sap/broad_phase.rs index 0ed12b6..f4b9fa1 100644 --- a/src/geometry/broad_phase_multi_sap/broad_phase.rs +++ b/src/geometry/broad_phase_multi_sap/broad_phase.rs @@ -622,7 +622,7 @@ impl BroadPhase { #[cfg(test)] mod test { - use crate::dynamics::{IslandManager, JointSet, RigidBodyBuilder, RigidBodySet}; + use crate::dynamics::{IslandManager, ImpulseJointSet, RigidBodyBuilder, RigidBodySet}; use crate::geometry::{BroadPhase, ColliderBuilder, ColliderSet}; #[test] @@ -630,7 +630,7 @@ mod test { let mut broad_phase = BroadPhase::new(); let mut bodies = RigidBodySet::new(); let mut colliders = ColliderSet::new(); - let mut joints = JointSet::new(); + let mut impulse_joints = ImpulseJointSet::new(); let mut islands = IslandManager::new(); let rb = RigidBodyBuilder::new_dynamic().build(); @@ -641,7 +641,7 @@ mod test { let mut events = Vec::new(); broad_phase.update(0.0, &mut colliders, &[coh], &[], &mut events); - bodies.remove(hrb, &mut islands, &mut colliders, &mut joints); + bodies.remove(hrb, &mut islands, &mut colliders, &mut impulse_joints); broad_phase.update(0.0, &mut colliders, &[], &[coh], &mut events); // Create another body. -- cgit