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Complete the parallel solver fix

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This commit is contained in:
Sébastien Crozet
2022-03-06 10:59:29 +01:00
committed by Sébastien Crozet
parent 2e6f133b95
commit 815de4beff
18 changed files with 226 additions and 153 deletions
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18
src/dynamics/solver/velocity_constraint.rs
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@@ -136,9 +136,12 @@ pub(crate) struct VelocityConstraint {
impl VelocityConstraint {
#[cfg(feature = "parallel")]
pub fn num_active_constraints(manifold: &ContactManifold) -> usize {
pub fn num_active_constraints_and_jacobian_lines(manifold: &ContactManifold) -> (usize, usize) {
let rest = manifold.data.solver_contacts.len() % MAX_MANIFOLD_POINTS != 0;
manifold.data.solver_contacts.len() / MAX_MANIFOLD_POINTS + rest as usize
(
manifold.data.solver_contacts.len() / MAX_MANIFOLD_POINTS + rest as usize,
manifold.data.solver_contacts.len() * DIM,
)
}
pub fn generate<Bodies>(
@@ -147,7 +150,7 @@ impl VelocityConstraint {
manifold: &ContactManifold,
bodies: &Bodies,
out_constraints: &mut Vec<AnyVelocityConstraint>,
push: bool,
insert_at: Option<usize>,
) where
Bodies: ComponentSet<RigidBodyIds>
+ ComponentSet<RigidBodyVelocity>
@@ -209,7 +212,7 @@ impl VelocityConstraint {
// NOTE: impulse_joints have the same problem, but it is not easy to refactor the code that way
// for the moment.
#[cfg(target_arch = "wasm32")]
let constraint = if push {
let constraint = if insert_at.is_none() {
let new_len = out_constraints.len() + 1;
unsafe {
out_constraints.resize_with(new_len, || {
@@ -331,11 +334,10 @@ impl VelocityConstraint {
}
#[cfg(not(target_arch = "wasm32"))]
if push {
out_constraints.push(AnyVelocityConstraint::Nongrouped(constraint));
if let Some(at) = insert_at {
out_constraints[at + _l] = AnyVelocityConstraint::Nongrouped(constraint);
} else {
out_constraints[manifold.data.constraint_index + _l] =
AnyVelocityConstraint::Nongrouped(constraint);
out_constraints.push(AnyVelocityConstraint::Nongrouped(constraint));
}
}
}