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Outsource the contact manifold, SAT, and some shapes.

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This commit is contained in:
Crozet Sébastien
2020-12-08 17:31:49 +01:00
parent fd3b4801b6
commit 9bf1321f8f
62 changed files with 552 additions and 2904 deletions
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12
src/dynamics/solver/interaction_groups.rs
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@@ -12,7 +12,7 @@ pub(crate) trait PairInteraction {
impl<'a> PairInteraction for &'a mut ContactManifold {
fn body_pair(&self) -> BodyPair {
self.body_pair
self.data.body_pair
}
}
@@ -77,7 +77,7 @@ impl ParallelInteractionGroups {
.iter()
.zip(self.interaction_colors.iter_mut())
{
let body_pair = interactions[*interaction_id].body_pair();
let body_pair = interactions[*interaction_id].data.body_pair();
let rb1 = &bodies[body_pair.body1];
let rb2 = &bodies[body_pair.body2];
@@ -338,7 +338,7 @@ impl InteractionGroups {
let mut occupied_mask = 0u128;
let max_interaction_points = interaction_indices
.iter()
.map(|i| interactions[*i].num_active_contacts())
.map(|i| interactions[*i].num_active_contacts)
.max()
.unwrap_or(1);
@@ -351,12 +351,12 @@ impl InteractionGroups {
// FIXME: how could we avoid iterating
// on each interaction at every iteration on k?
if interaction.num_active_contacts() != k {
if interaction.num_active_contacts != k {
continue;
}
let body1 = &bodies[interaction.body_pair.body1];
let body2 = &bodies[interaction.body_pair.body2];
let body1 = &bodies[interaction.data.body_pair.body1];
let body2 = &bodies[interaction.data.body_pair.body2];
let is_static1 = !body1.is_dynamic();
let is_static2 = !body2.is_dynamic();