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Finalize refactoring

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This commit is contained in:
Sébastien Crozet
2022-04-20 12:29:57 +02:00
committed by Sébastien Crozet
parent 2b1374c596
commit f108520b5a
32 changed files with 707 additions and 1030 deletions
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30
src/dynamics/joint/impulse_joint/impulse_joint_set.rs
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@@ -3,10 +3,7 @@ use crate::geometry::{InteractionGraph, RigidBodyGraphIndex, TemporaryInteractio
use crate::data::arena::Arena;
use crate::data::Coarena;
use crate::dynamics::{
GenericJoint, IslandManager, RigidBodyActivation, RigidBodyHandle, RigidBodyIds, RigidBodySet,
RigidBodyType,
};
use crate::dynamics::{GenericJoint, IslandManager, RigidBodyHandle, RigidBodySet};
/// The unique identifier of a joint added to the joint set.
/// The unique identifier of a collider added to a collider set.
@@ -230,26 +227,17 @@ impl ImpulseJointSet {
// FIXME: don't iterate through all the interactions.
for (i, edge) in self.joint_graph.graph.edges.iter().enumerate() {
let joint = &edge.weight;
let rb1 = &bodies[joint.body1];
let rb2 = &bodies[joint.body2];
let (status1, activation1, ids1): (
&RigidBodyType,
&RigidBodyActivation,
&RigidBodyIds,
) = bodies.index_bundle(joint.body1.0);
let (status2, activation2, ids2): (
&RigidBodyType,
&RigidBodyActivation,
&RigidBodyIds,
) = bodies.index_bundle(joint.body2.0);
if (status1.is_dynamic() || status2.is_dynamic())
&& (!status1.is_dynamic() || !activation1.sleeping)
&& (!status2.is_dynamic() || !activation2.sleeping)
if (rb1.is_dynamic() || rb2.is_dynamic())
&& (!rb1.is_dynamic() || !rb1.is_sleeping())
&& (!rb2.is_dynamic() || !rb2.is_sleeping())
{
let island_index = if !status1.is_dynamic() {
ids2.active_island_id
let island_index = if !rb1.is_dynamic() {
rb2.ids.active_island_id
} else {
ids1.active_island_id
rb1.ids.active_island_id
};
out[island_index].push(i);