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Refactor the constraints solver code.

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This commit is contained in:
Crozet Sébastien
2020-12-31 10:32:34 +01:00
parent 348a339fe3
commit 64507a68e1
6 changed files with 435 additions and 651 deletions
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45
src/dynamics/solver/island_solver.rs
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@@ -1,9 +1,15 @@
use super::{PositionSolver, VelocitySolver};
use crate::counters::Counters;
use crate::dynamics::solver::{
AnyJointPositionConstraint, AnyJointVelocityConstraint, AnyPositionConstraint,
AnyVelocityConstraint, SolverConstraints,
};
use crate::dynamics::{IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
pub struct IslandSolver {
contact_constraints: SolverConstraints<AnyVelocityConstraint, AnyPositionConstraint>,
joint_constraints: SolverConstraints<AnyJointVelocityConstraint, AnyJointPositionConstraint>,
velocity_solver: VelocitySolver,
position_solver: PositionSolver,
}
@@ -11,6 +17,8 @@ pub struct IslandSolver {
impl IslandSolver {
pub fn new() -> Self {
Self {
contact_constraints: SolverConstraints::new(),
joint_constraints: SolverConstraints::new(),
velocity_solver: VelocitySolver::new(),
position_solver: PositionSolver::new(),
}
@@ -29,35 +37,23 @@ impl IslandSolver {
) {
if manifold_indices.len() != 0 || joint_indices.len() != 0 {
counters.solver.velocity_assembly_time.resume();
self.position_solver.part.constraints.clear();
self.velocity_solver.init_constraints(
island_id,
params,
bodies,
manifolds,
&manifold_indices,
joints,
&joint_indices,
&mut self.position_solver.part.constraints,
);
self.contact_constraints
.init(island_id, params, bodies, manifolds, manifold_indices);
self.joint_constraints
.init(island_id, params, bodies, joints, joint_indices);
counters.solver.velocity_assembly_time.pause();
counters.solver.velocity_resolution_time.resume();
self.velocity_solver
.solve_constraints(island_id, params, bodies, manifolds, joints);
counters.solver.velocity_resolution_time.pause();
counters.solver.position_assembly_time.resume();
self.position_solver.init_constraints(
self.velocity_solver.solve(
island_id,
params,
bodies,
manifolds,
&manifold_indices,
joints,
&joint_indices,
&mut self.contact_constraints.velocity_constraints,
&mut self.joint_constraints.velocity_constraints,
);
counters.solver.position_assembly_time.pause();
counters.solver.velocity_resolution_time.pause();
}
counters.solver.velocity_update_time.resume();
@@ -67,8 +63,13 @@ impl IslandSolver {
if manifold_indices.len() != 0 || joint_indices.len() != 0 {
counters.solver.position_resolution_time.resume();
self.position_solver
.solve_constraints(island_id, params, bodies);
self.position_solver.solve(
island_id,
params,
bodies,
&self.contact_constraints.position_constraints,
&self.joint_constraints.position_constraints,
);
counters.solver.position_resolution_time.pause();
}
}