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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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17
src/dynamics/solver/velocity_solver.rs
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@@ -1,20 +1,9 @@
use super::{
AnyJointVelocityConstraint, InteractionGroups, VelocityConstraint, VelocityGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
use super::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{
AnyJointPositionConstraint, AnyPositionConstraint, PositionConstraint,
PositionGroundConstraint, WPositionConstraint, WPositionGroundConstraint,
};
use super::AnyJointVelocityConstraint;
use crate::dynamics::{
solver::{AnyVelocityConstraint, DeltaVel},
IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
IntegrationParameters, JointGraphEdge, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
use crate::geometry::ContactManifold;
use crate::utils::WAngularInertia;
pub(crate) struct VelocitySolver {