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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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10
src/dynamics/solver/velocity_constraint.rs
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@@ -150,9 +150,13 @@ impl VelocityConstraint {
let mj_lambda2 = rb2.active_set_offset;
let force_dir1 = -manifold.data.normal;
let warmstart_coeff = manifold.data.warmstart_multiplier * params.warmstart_coeff;
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()
{
#[cfg(not(target_arch = "wasm32"))]
let mut constraint = VelocityConstraint {
dir1: force_dir1,
@@ -383,7 +387,7 @@ impl VelocityConstraint {
let k_base = self.manifold_contact_id;
for k in 0..self.num_contacts as usize {
let active_contacts = manifold.active_contacts_mut();
let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()];
active_contacts[k_base + k].data.impulse = self.elements[k].normal_part.impulse;
#[cfg(feature = "dim2")]
{