nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Outsource the contact manifold, SAT, and some shapes.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

30
src/dynamics/solver/velocity_constraint.rs
View File

@@ -144,14 +144,14 @@ impl VelocityConstraint {
out_constraints: &mut Vec<AnyVelocityConstraint>,
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 mj_lambda1 = rb1.active_set_offset;
let mj_lambda2 = rb2.active_set_offset;
let pos_coll1 = rb1.position * manifold.delta1;
let pos_coll2 = rb2.position * manifold.delta2;
let pos_coll1 = rb1.position * manifold.data.delta1;
let pos_coll2 = rb2.position * manifold.data.delta2;
let force_dir1 = pos_coll1 * (-manifold.local_n1);
let warmstart_coeff = manifold.warmstart_multiplier * params.warmstart_coeff;
let warmstart_coeff = manifold.data.warmstart_multiplier * params.warmstart_coeff;
for (l, manifold_points) in manifold
.active_contacts()
@@ -164,7 +164,7 @@ impl VelocityConstraint {
elements: [VelocityConstraintElement::zero(); MAX_MANIFOLD_POINTS],
im1: rb1.mass_properties.inv_mass,
im2: rb2.mass_properties.inv_mass,
limit: manifold.friction,
limit: manifold.data.friction,
mj_lambda1,
mj_lambda2,
manifold_id,
@@ -207,7 +207,7 @@ impl VelocityConstraint {
constraint.dir1 = force_dir1;
constraint.im1 = rb1.mass_properties.inv_mass;
constraint.im2 = rb2.mass_properties.inv_mass;
constraint.limit = manifold.friction;
constraint.limit = manifold.data.friction;
constraint.mj_lambda1 = mj_lambda1;
constraint.mj_lambda2 = mj_lambda2;
constraint.manifold_id = manifold_id;
@@ -241,12 +241,12 @@ impl VelocityConstraint {
let mut rhs = (vel1 - vel2).dot(&force_dir1);
if rhs <= -params.restitution_velocity_threshold {
rhs += manifold.restitution * rhs
rhs += manifold.data.restitution * rhs
}
rhs += manifold_point.dist.max(0.0) * params.inv_dt();
let impulse = manifold_points[k].impulse * warmstart_coeff;
let impulse = manifold_points[k].data.impulse * warmstart_coeff;
constraint.elements[k].normal_part = VelocityConstraintElementPart {
gcross1,
@@ -275,9 +275,9 @@ impl VelocityConstraint {
+ gcross2.gdot(gcross2));
let rhs = (vel1 - vel2).dot(&tangents1[j]);
#[cfg(feature = "dim2")]
let impulse = manifold_points[k].tangent_impulse * warmstart_coeff;
let impulse = manifold_points[k].data.tangent_impulse * warmstart_coeff;
#[cfg(feature = "dim3")]
let impulse = manifold_points[k].tangent_impulse[j] * warmstart_coeff;
let impulse = manifold_points[k].data.tangent_impulse[j] * warmstart_coeff;
constraint.elements[k].tangent_part[j] = VelocityConstraintElementPart {
gcross1,
@@ -294,7 +294,7 @@ impl VelocityConstraint {
if push {
out_constraints.push(AnyVelocityConstraint::Nongrouped(constraint));
} else {
out_constraints[manifold.constraint_index + l] =
out_constraints[manifold.data.constraint_index + l] =
AnyVelocityConstraint::Nongrouped(constraint);
}
}
@@ -388,15 +388,15 @@ impl VelocityConstraint {
for k in 0..self.num_contacts as usize {
let active_contacts = manifold.active_contacts_mut();
active_contacts[k_base + k].impulse = self.elements[k].normal_part.impulse;
active_contacts[k_base + k].data.impulse = self.elements[k].normal_part.impulse;
#[cfg(feature = "dim2")]
{
active_contacts[k_base + k].tangent_impulse =
active_contacts[k_base + k].data.tangent_impulse =
self.elements[k].tangent_part[0].impulse;
}
#[cfg(feature = "dim3")]
{
active_contacts[k_base + k].tangent_impulse = [
active_contacts[k_base + k].data.tangent_impulse = [
self.elements[k].tangent_part[0].impulse,
self.elements[k].tangent_part[1].impulse,
];