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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_wide.rs
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@@ -35,8 +35,8 @@ impl WPositionConstraint {
out_constraints: &mut Vec<AnyPositionConstraint>,
push: bool,
) {
let rbs1 = array![|ii| bodies.get(manifolds[ii].body_pair.body1).unwrap(); SIMD_WIDTH];
let rbs2 = array![|ii| bodies.get(manifolds[ii].body_pair.body2).unwrap(); SIMD_WIDTH];
let rbs1 = array![|ii| bodies.get(manifolds[ii].data.body_pair.body1).unwrap(); SIMD_WIDTH];
let rbs2 = array![|ii| bodies.get(manifolds[ii].data.body_pair.body2).unwrap(); SIMD_WIDTH];
let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
let sqrt_ii1: AngularInertia<SimdFloat> =
@@ -51,8 +51,8 @@ impl WPositionConstraint {
let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]);
let delta1 = Isometry::from(array![|ii| manifolds[ii].delta1; SIMD_WIDTH]);
let delta2 = Isometry::from(array![|ii| manifolds[ii].delta2; SIMD_WIDTH]);
let delta1 = Isometry::from(array![|ii| manifolds[ii].data.delta1; SIMD_WIDTH]);
let delta2 = Isometry::from(array![|ii| manifolds[ii].data.delta2; SIMD_WIDTH]);
let rb1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
@@ -100,10 +100,10 @@ impl WPositionConstraint {
}
} else {
if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPointPoint(constraint);
} else {
out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPlanePoint(constraint);
}
}