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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/position_constraint.rs
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@@ -88,8 +88,8 @@ impl PositionConstraint {
out_constraints: &mut Vec<AnyPositionConstraint>,
push: bool,
) {
let rb1 = &bodies[manifold.body_pair.body1];
let rb2 = &bodies[manifold.body_pair.body2];
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
let shift1 = manifold.local_n1 * -manifold.kinematics.radius1;
let shift2 = manifold.local_n2 * -manifold.kinematics.radius2;
let radius =
@@ -104,8 +104,8 @@ impl PositionConstraint {
let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
for l in 0..manifold_points.len() {
local_p1[l] = manifold.delta1 * (manifold_points[l].local_p1 + shift1);
local_p2[l] = manifold.delta2 * (manifold_points[l].local_p2 + shift2);
local_p1[l] = manifold.data.delta1 * (manifold_points[l].local_p1 + shift1);
local_p2[l] = manifold.data.delta2 * (manifold_points[l].local_p2 + shift2);
}
let constraint = PositionConstraint {
@@ -132,10 +132,10 @@ impl PositionConstraint {
}
} else {
if manifold.kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifold.constraint_index + l] =
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NongroupedPointPoint(constraint);
} else {
out_constraints[manifold.constraint_index + l] =
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NongroupedPlanePoint(constraint);
}
}