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Remove code related to point-point kinematics.

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This commit is contained in:
Crozet Sébastien
2020-12-31 10:02:51 +01:00
parent eea888af93
commit 348a339fe3
9 changed files with 36 additions and 409 deletions
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85
src/dynamics/solver/position_solver.rs
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@@ -3,7 +3,7 @@ use super::{
};
#[cfg(feature = "simd-is-enabled")]
use super::{WPositionConstraint, WPositionGroundConstraint};
use crate::dynamics::solver::categorization::{categorize_joints, categorize_position_contacts};
use crate::dynamics::solver::categorization::categorize_joints;
use crate::dynamics::{
solver::AnyPositionConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
@@ -77,8 +77,6 @@ impl PositionSolver {
joints: &[JointGraphEdge],
joint_constraint_indices: &[JointIndex],
) {
// self.part
// .init_constraints(island_id, params, bodies, manifolds, manifold_indices);
self.joint_part.init_constraints(
island_id,
params,
@@ -117,87 +115,6 @@ impl PositionSolver {
}
}
impl PositionSolverPart {
pub fn init_constraints(
&mut self,
island_id: usize,
params: &IntegrationParameters,
bodies: &RigidBodySet,
manifolds_all: &[&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
) {
self.plane_point_ground_manifolds.clear();
self.plane_point_manifolds.clear();
categorize_position_contacts(
bodies,
manifolds_all,
manifold_indices,
&mut self.plane_point_ground_manifolds,
&mut self.plane_point_manifolds,
);
self.plane_point_groups.clear_groups();
self.plane_point_groups.group_manifolds(
island_id,
bodies,
manifolds_all,
&self.plane_point_manifolds,
);
self.plane_point_ground_groups.clear_groups();
self.plane_point_ground_groups.group_manifolds(
island_id,
bodies,
manifolds_all,
&self.plane_point_ground_manifolds,
);
self.constraints.clear();
/*
* Init non-ground contact constraints.
*/
#[cfg(feature = "simd-is-enabled")]
{
compute_grouped_constraints(
params,
bodies,
manifolds_all,
&self.plane_point_groups.grouped_interactions,
&mut self.constraints,
);
}
compute_nongrouped_constraints(
params,
bodies,
manifolds_all,
&self.plane_point_groups.nongrouped_interactions,
&mut self.constraints,
);
/*
* Init ground contact constraints.
*/
#[cfg(feature = "simd-is-enabled")]
{
compute_grouped_ground_constraints(
params,
bodies,
manifolds_all,
&self.plane_point_ground_groups.grouped_interactions,
&mut self.constraints,
);
}
compute_nongrouped_ground_constraints(
params,
bodies,
manifolds_all,
&self.plane_point_ground_groups.nongrouped_interactions,
&mut self.constraints,
);
}
}
impl PositionSolverJointPart {
pub fn init_constraints(
&mut self,