46 lines
1.3 KiB
Rust
46 lines
1.3 KiB
Rust
use super::AnyJointPositionConstraint;
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use crate::dynamics::{solver::AnyPositionConstraint, IntegrationParameters, RigidBodySet};
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use crate::math::{Isometry, Real};
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pub(crate) struct PositionSolver {
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positions: Vec<Isometry<Real>>,
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}
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impl PositionSolver {
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pub fn new() -> Self {
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Self {
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positions: Vec::new(),
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}
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}
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pub fn solve(
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&mut self,
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island_id: usize,
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params: &IntegrationParameters,
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bodies: &mut RigidBodySet,
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contact_constraints: &[AnyPositionConstraint],
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joint_constraints: &[AnyJointPositionConstraint],
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) {
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self.positions.clear();
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self.positions.extend(
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bodies
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.iter_active_island(island_id)
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.map(|(_, b)| b.next_position),
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);
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for _ in 0..params.max_position_iterations {
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for constraint in joint_constraints {
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constraint.solve(params, &mut self.positions)
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}
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for constraint in contact_constraints {
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constraint.solve(params, &mut self.positions)
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}
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}
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bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
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rb.set_next_position(self.positions[rb.active_set_offset])
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});
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}
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}
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