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Perform contact sorting in the narrow-phase directly.

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This commit is contained in:
Crozet Sébastien
2020-12-31 11:16:03 +01:00
parent 64507a68e1
commit 967145a949
21 changed files with 116 additions and 206 deletions
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8
src/dynamics/solver/position_constraint.rs
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@@ -66,9 +66,13 @@ impl PositionConstraint {
) {
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
let active_contacts = &manifold.data.solver_contacts[..manifold.num_active_contacts];
for (l, manifold_points) in active_contacts.chunks(MAX_MANIFOLD_POINTS).enumerate() {
for (l, manifold_points) in manifold
.data
.solver_contacts
.chunks(MAX_MANIFOLD_POINTS)
.enumerate()
{
let mut local_p1 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
let mut dists = [0.0; MAX_MANIFOLD_POINTS];