Fix the parallel build.

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>,

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,