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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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16
src/dynamics/solver/position_ground_constraint.rs
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@@ -28,8 +28,8 @@ impl PositionGroundConstraint {
out_constraints: &mut Vec<AnyPositionConstraint>,
push: bool,
) {
let mut rb1 = &bodies[manifold.body_pair.body1];
let mut rb2 = &bodies[manifold.body_pair.body2];
let mut rb1 = &bodies[manifold.data.body_pair.body1];
let mut rb2 = &bodies[manifold.data.body_pair.body2];
let flip = !rb2.is_dynamic();
let local_n1;
@@ -41,13 +41,13 @@ impl PositionGroundConstraint {
std::mem::swap(&mut rb1, &mut rb2);
local_n1 = manifold.local_n2;
local_n2 = manifold.local_n1;
delta1 = &manifold.delta2;
delta2 = &manifold.delta1;
delta1 = &manifold.data.delta2;
delta2 = &manifold.data.delta1;
} else {
local_n1 = manifold.local_n1;
local_n2 = manifold.local_n2;
delta1 = &manifold.delta1;
delta2 = &manifold.delta2;
delta1 = &manifold.data.delta1;
delta2 = &manifold.data.delta2;
};
let coll_pos1 = rb1.position * delta1;
@@ -105,10 +105,10 @@ impl PositionGroundConstraint {
}
} else {
if manifold.kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifold.constraint_index + l] =
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NongroupedPointPointGround(constraint);
} else {
out_constraints[manifold.constraint_index + l] =
out_constraints[manifold.data.constraint_index + l] =
AnyPositionConstraint::NongroupedPlanePointGround(constraint);
}
}