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Implement dominance.

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This commit is contained in:
Crozet Sébastien
2021-02-24 13:26:51 +01:00
parent 3cc2738e5f
commit 96ecb877e2
11 changed files with 42 additions and 10 deletions
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5
src/dynamics/solver/categorization.rs
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@@ -2,7 +2,6 @@ use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
pub(crate) fn categorize_contacts(
bodies: &RigidBodySet,
manifolds: &[&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
out_ground: &mut Vec<ContactManifoldIndex>,
@@ -10,10 +9,8 @@ pub(crate) fn categorize_contacts(
) {
for manifold_i in manifold_indices {
let manifold = &manifolds[*manifold_i];
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
if !rb1.is_dynamic() || !rb2.is_dynamic() {
if manifold.data.relative_dominance != 0 {
out_ground.push(*manifold_i)
} else {
out_not_ground.push(*manifold_i)