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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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9
src/dynamics/solver/velocity_ground_constraint_wide.rs
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@@ -2,8 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
AngVector, AngularInertia, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
use num::Zero;
@@ -100,10 +99,10 @@ impl WVelocityGroundConstraint {
let warmstart_multiplier =
SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
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 = WVelocityGroundConstraint {
@@ -283,7 +282,7 @@ impl WVelocityGroundConstraint {
for ii in 0..SIMD_WIDTH {
let manifold = &mut manifolds_all[self.manifold_id[ii]];
let k_base = self.manifold_contact_id;
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 = impulses[ii];
#[cfg(feature = "dim2")]