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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/velocity_solver.rs
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@@ -3,7 +3,7 @@ use super::{
};
#[cfg(feature = "simd-is-enabled")]
use super::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::solver::categorization::{categorize_joints, categorize_velocity_contacts};
use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{
AnyPositionConstraint, PositionConstraint, PositionGroundConstraint, WPositionConstraint,
WPositionGroundConstraint,
@@ -144,7 +144,7 @@ impl VelocitySolverPart<AnyVelocityConstraint> {
) {
self.not_ground_interactions.clear();
self.ground_interactions.clear();
categorize_velocity_contacts(
categorize_contacts(
bodies,
manifolds,
manifold_indices,