Perform contact sorting in the narrow-phase directly.

2020-12-31 11:16:03 +01:00
parent 64507a68e1
commit 967145a949
21 changed files with 116 additions and 206 deletions
--- a/src/dynamics/solver/interaction_groups.rs
+++ b/src/dynamics/solver/interaction_groups.rs
@@ -338,7 +338,7 @@ impl InteractionGroups {
        let mut occupied_mask = 0u128;
        let max_interaction_points = interaction_indices
            .iter()
-            .map(|i| interactions[*i].num_active_contacts)
+            .map(|i| interactions[*i].data.num_active_contacts())
            .max()
            .unwrap_or(1);

@@ -351,7 +351,7 @@ impl InteractionGroups {

                // FIXME: how could we avoid iterating
                // on each interaction at every iteration on k?
-                if interaction.num_active_contacts != k {
+                if interaction.data.num_active_contacts() != k {
                    continue;
                }