nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Perform contact sorting in the narrow-phase directly.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

14
src/dynamics/solver/position_solver.rs
View File

@@ -1,16 +1,6 @@
use super::{
AnyJointPositionConstraint, InteractionGroups, PositionConstraint, PositionGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
use super::{WPositionConstraint, WPositionGroundConstraint};
use crate::dynamics::solver::categorization::categorize_joints;
use crate::dynamics::{
solver::AnyPositionConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use super::AnyJointPositionConstraint;
use crate::dynamics::{solver::AnyPositionConstraint, IntegrationParameters, RigidBodySet};
use crate::math::Isometry;
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
pub(crate) struct PositionSolver {
positions: Vec<Isometry<f32>>,