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Remove code related to point-point kinematics.

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This commit is contained in:
Crozet Sébastien
2020-12-31 10:02:51 +01:00
parent eea888af93
commit 348a339fe3
9 changed files with 36 additions and 409 deletions
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4
src/dynamics/solver/parallel_velocity_solver.rs
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@@ -1,6 +1,6 @@
use super::ParallelInteractionGroups;
use super::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel, ThreadContext};
use crate::dynamics::solver::categorization::{categorize_joints, categorize_velocity_contacts};
use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{InteractionGroups, VelocityConstraint, VelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, JointGraphEdge, RigidBodySet};
use crate::geometry::ContactManifold;
@@ -165,7 +165,7 @@ macro_rules! impl_init_constraints_group {
impl_init_constraints_group!(
AnyVelocityConstraint,
&mut ContactManifold,
categorize_velocity_contacts,
categorize_contacts,
group_manifolds,
VelocityConstraint::num_active_constraints,
AnyVelocityConstraint::Empty