- rb_solve_swingtwist_constraints( mdl->cone_constraints,
- mdl->cone_constraints_count );
- rb_solve_position_constraints( mdl->position_constraints,
- mdl->position_constraints_count );
+ rb_solve_swingtwist_constraints( rd->cone_constraints,
+ rd->cone_constraints_count );
+ rb_solve_position_constraints( rd->position_constraints,
+ rd->position_constraints_count );