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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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14
src/dynamics/solver/position_ground_constraint_wide.rs
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@@ -32,8 +32,10 @@ impl WPositionGroundConstraint {
out_constraints: &mut Vec<AnyPositionConstraint>,
push: bool,
) {
let mut rbs1 = array![|ii| bodies.get(manifolds[ii].body_pair.body1).unwrap(); SIMD_WIDTH];
let mut rbs2 = array![|ii| bodies.get(manifolds[ii].body_pair.body2).unwrap(); SIMD_WIDTH];
let mut rbs1 =
array![|ii| bodies.get(manifolds[ii].data.body_pair.body1).unwrap(); SIMD_WIDTH];
let mut rbs2 =
array![|ii| bodies.get(manifolds[ii].data.body_pair.body2).unwrap(); SIMD_WIDTH];
let mut flipped = [false; SIMD_WIDTH];
for ii in 0..SIMD_WIDTH {
@@ -55,10 +57,10 @@ impl WPositionGroundConstraint {
);
let delta1 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].delta2 } else { manifolds[ii].delta1 }; SIMD_WIDTH],
array![|ii| if flipped[ii] { manifolds[ii].data.delta2 } else { manifolds[ii].data.delta1 }; SIMD_WIDTH],
);
let delta2 = Isometry::from(
array![|ii| if flipped[ii] { manifolds[ii].delta1 } else { manifolds[ii].delta2 }; SIMD_WIDTH],
array![|ii| if flipped[ii] { manifolds[ii].data.delta1 } else { manifolds[ii].data.delta2 }; SIMD_WIDTH],
);
let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]);
@@ -112,10 +114,10 @@ impl WPositionGroundConstraint {
}
} else {
if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPointPointGround(constraint);
} else {
out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] =
out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
AnyPositionConstraint::GroupedPlanePointGround(constraint);
}
}