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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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6
src/dynamics/solver/position_ground_constraint_wide.rs
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@@ -8,7 +8,7 @@ use crate::math::{
use crate::utils::{WAngularInertia, WCross, WDot};
use num::Zero;
use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue};
use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue};
pub(crate) struct WPositionGroundConstraint {
pub rb2: [usize; SIMD_WIDTH],
@@ -56,10 +56,10 @@ impl WPositionGroundConstraint {
let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
let num_active_contacts = manifolds[0].num_active_contacts();
let num_active_contacts = manifolds[0].data.num_active_contacts();
for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) {
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]; SIMD_WIDTH];
let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH];
let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS);
let mut constraint = WPositionGroundConstraint {