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Refactor the constraints solver code.

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This commit is contained in:
Crozet Sébastien
2020-12-31 10:32:34 +01:00
parent 348a339fe3
commit 64507a68e1
6 changed files with 435 additions and 651 deletions
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18
src/dynamics/solver/parallel_velocity_solver.rs
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@@ -20,7 +20,7 @@ pub(crate) enum VelocityConstraintDesc {
GroundGrouped([usize; SIMD_WIDTH]),
}
pub(crate) struct ParallelVelocitySolverPart<Constraint> {
pub(crate) struct ParallelSolverConstraints<Constraint> {
pub not_ground_interactions: Vec<usize>,
pub ground_interactions: Vec<usize>,
pub interaction_groups: InteractionGroups,
@@ -30,7 +30,7 @@ pub(crate) struct ParallelVelocitySolverPart<Constraint> {
pub parallel_desc_groups: Vec<usize>,
}
impl<Constraint> ParallelVelocitySolverPart<Constraint> {
impl<Constraint> ParallelSolverConstraints<Constraint> {
pub fn new() -> Self {
Self {
not_ground_interactions: Vec::new(),
@@ -46,7 +46,7 @@ impl<Constraint> ParallelVelocitySolverPart<Constraint> {
macro_rules! impl_init_constraints_group {
($Constraint: ty, $Interaction: ty, $categorize: ident, $group: ident, $num_active_constraints: path, $empty_constraint: expr $(, $weight: ident)*) => {
impl ParallelVelocitySolverPart<$Constraint> {
impl ParallelSolverConstraints<$Constraint> {
pub fn init_constraints_groups(
&mut self,
island_id: usize,
@@ -181,7 +181,7 @@ impl_init_constraints_group!(
weight
);
impl ParallelVelocitySolverPart<AnyVelocityConstraint> {
impl ParallelSolverConstraints<AnyVelocityConstraint> {
fn fill_constraints(
&mut self,
thread: &ThreadContext,
@@ -219,7 +219,7 @@ impl ParallelVelocitySolverPart<AnyVelocityConstraint> {
}
}
impl ParallelVelocitySolverPart<AnyJointVelocityConstraint> {
impl ParallelSolverConstraints<AnyJointVelocityConstraint> {
fn fill_constraints(
&mut self,
thread: &ThreadContext,
@@ -262,15 +262,15 @@ impl ParallelVelocitySolverPart<AnyJointVelocityConstraint> {
}
pub(crate) struct ParallelVelocitySolver {
part: ParallelVelocitySolverPart<AnyVelocityConstraint>,
joint_part: ParallelVelocitySolverPart<AnyJointVelocityConstraint>,
part: ParallelSolverConstraints<AnyVelocityConstraint>,
joint_part: ParallelSolverConstraints<AnyJointVelocityConstraint>,
}
impl ParallelVelocitySolver {
pub fn new() -> Self {
Self {
part: ParallelVelocitySolverPart::new(),
joint_part: ParallelVelocitySolverPart::new(),
part: ParallelSolverConstraints::new(),
joint_part: ParallelSolverConstraints::new(),
}
}