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Rework the event system

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This commit is contained in:
Crozet Sébastien
2021-06-01 12:36:01 +02:00
parent 1bef66fea9
commit 826ce5f014
28 changed files with 382 additions and 200 deletions
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8
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
View File

@@ -34,8 +34,8 @@ impl BallPositionConstraint {
let (mprops2, ids2) = rb2;
Self {
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
im1: mprops1.effective_inv_mass,
im2: mprops2.effective_inv_mass,
ii1: mprops1.effective_world_inv_inertia_sqrt.squared(),
@@ -131,7 +131,7 @@ impl BallPositionGroundConstraint {
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
}
} else {
Self {
@@ -140,7 +140,7 @@ impl BallPositionGroundConstraint {
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
}
}
}

6
src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs
View File

@@ -40,8 +40,8 @@ impl WBallPositionConstraint {
let (mprops1, ids1) = rbs1;
let (mprops2, ids2) = rbs2;
let local_com1 = Point::from(gather![|ii| mprops1[ii].mass_properties.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
let local_com1 = Point::from(gather![|ii| mprops1[ii].local_mprops.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
let im1 = SimdReal::from(gather![|ii| mprops1[ii].effective_inv_mass]);
let im2 = SimdReal::from(gather![|ii| mprops2[ii].effective_inv_mass]);
let ii1 = AngularInertia::<SimdReal>::from(gather![
@@ -169,7 +169,7 @@ impl WBallPositionGroundConstraint {
cparams[ii].local_anchor2
}]);
let position2 = gather![|ii| ids2[ii].active_set_offset];
let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]);
let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]);
Self {
anchor1,

6
src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
View File

@@ -46,8 +46,8 @@ impl FixedPositionConstraint {
im2,
ii1,
ii2,
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
lin_inv_lhs,
ang_inv_lhs,
}
@@ -125,7 +125,7 @@ impl FixedPositionGroundConstraint {
position2: ids2.active_set_offset,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
impulse: 0.0,
}
}

6
src/dynamics/solver/joint_constraint/generic_position_constraint.rs
View File

@@ -41,8 +41,8 @@ impl GenericPositionConstraint {
im2,
ii1,
ii2,
local_com1: rb1.mass_properties.local_com,
local_com2: rb2.mass_properties.local_com,
local_com1: rb1.local_mprops.local_com,
local_com2: rb2.local_mprops.local_com,
joint: *joint,
}
}
@@ -215,7 +215,7 @@ impl GenericPositionGroundConstraint {
position2: rb2.active_set_offset,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_com2: rb2.mass_properties.local_com,
local_com2: rb2.local_mprops.local_com,
joint: *joint,
}
}

6
src/dynamics/solver/joint_constraint/revolute_position_constraint.rs
View File

@@ -51,8 +51,8 @@ impl RevolutePositionConstraint {
ii1,
ii2,
ang_inv_lhs,
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
local_com1: mprops1.local_mprops.local_com,
local_com2: mprops2.local_mprops.local_com,
local_anchor1: cparams.local_anchor1,
local_anchor2: cparams.local_anchor2,
local_axis1: cparams.local_axis1,
@@ -183,7 +183,7 @@ impl RevolutePositionGroundConstraint {
local_anchor2,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_com2: mprops2.mass_properties.local_com,
local_com2: mprops2.local_mprops.local_com,
axis1,
local_axis2,
position2: ids2.active_set_offset,