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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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7
src/geometry/narrow_phase.rs
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@@ -21,9 +21,9 @@ use crate::geometry::{
use crate::geometry::{ColliderSet, ContactManifold, ContactPair, InteractionGraph};
//#[cfg(feature = "simd-is-enabled")]
//use crate::math::{SimdFloat, SIMD_WIDTH};
use crate::buckler::query::Proximity;
use crate::data::pubsub::Subscription;
use crate::data::Coarena;
use crate::ncollide::query::Proximity;
use crate::pipeline::EventHandler;
use std::collections::HashMap;
//use simba::simd::SimdValue;
@@ -568,9 +568,10 @@ impl NarrowPhase {
// FIXME: don't iterate through all the interactions.
for inter in self.contact_graph.graph.edges.iter_mut() {
for manifold in &mut inter.weight.manifolds {
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 manifold
.data
.solver_flags
.contains(SolverFlags::COMPUTE_IMPULSES)
&& manifold.num_active_contacts() != 0