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Fix the parallel build.

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This commit is contained in:
Crozet Sébastien
2021-02-24 13:40:26 +01:00
parent 96ecb877e2
commit 9cdd34c741
2 changed files with 2 additions and 0 deletions
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1
src/dynamics/solver/categorization.rs
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@@ -2,6 +2,7 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::geometry::{ContactManifold, ContactManifoldIndex};
pub(crate) fn categorize_contacts( pub(crate) fn categorize_contacts(
_bodies: &RigidBodySet, // Unused but useful to simplify the parallel code.
manifolds: &[&mut ContactManifold], manifolds: &[&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex], manifold_indices: &[ContactManifoldIndex],
out_ground: &mut Vec<ContactManifoldIndex>, out_ground: &mut Vec<ContactManifoldIndex>,

1
src/dynamics/solver/solver_constraints.rs
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@@ -51,6 +51,7 @@ impl SolverConstraints<AnyVelocityConstraint, AnyPositionConstraint> {
self.not_ground_interactions.clear(); self.not_ground_interactions.clear();
self.ground_interactions.clear(); self.ground_interactions.clear();
categorize_contacts( categorize_contacts(
bodies,
manifolds, manifolds,
manifold_indices, manifold_indices,
&mut self.ground_interactions, &mut self.ground_interactions,