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Outsource the contact manifold, SAT, and some shapes.

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This commit is contained in:
Crozet Sébastien
2020-12-08 17:31:49 +01:00
parent fd3b4801b6
commit 9bf1321f8f
62 changed files with 552 additions and 2904 deletions
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8
src/dynamics/solver/categorization.rs
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@@ -12,8 +12,8 @@ pub(crate) fn categorize_position_contacts(
) {
for manifold_i in manifold_indices {
let manifold = &manifolds[*manifold_i];
let rb1 = &bodies[manifold.body_pair.body1];
let rb2 = &bodies[manifold.body_pair.body2];
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
if !rb1.is_dynamic() || !rb2.is_dynamic() {
match manifold.kinematics.category {
@@ -38,8 +38,8 @@ pub(crate) fn categorize_velocity_contacts(
) {
for manifold_i in manifold_indices {
let manifold = &manifolds[*manifold_i];
let rb1 = &bodies[manifold.body_pair.body1];
let rb2 = &bodies[manifold.body_pair.body2];
let rb1 = &bodies[manifold.data.body_pair.body1];
let rb2 = &bodies[manifold.data.body_pair.body2];
if !rb1.is_dynamic() || !rb2.is_dynamic() {
out_ground.push(*manifold_i)