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Use contact ids instead of contact reordering in order to identify the impulse writeback location.

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Crozet Sébastien
2021-02-22 17:51:40 +01:00
parent d31a327b45
commit ad5c10672e
6 changed files with 52 additions and 45 deletions
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20
src/geometry/narrow_phase.rs
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@@ -546,15 +546,17 @@ impl NarrowPhase {
manifold.data.solver_flags = solver_flags;
manifold.data.normal = world_pos1 * manifold.local_n1;
// Sort contacts to keep only these with distances bellow
// the prediction, and generate solver contacts.
let mut first_inactive_index = manifold.points.len();
// Generate solver contacts.
for (contact_id, contact) in manifold.points.iter().enumerate() {
assert!(
contact_id <= u8::MAX as usize,
"A contact manifold cannot contain more than 255 contacts currently."
);
while manifold.data.num_active_contacts() != first_inactive_index {
let contact = &manifold.points[manifold.data.num_active_contacts()];
if contact.dist < prediction_distance {
// Generate the solver contact.
let solver_contact = SolverContact {
contact_id: contact_id as u8,
point: world_pos1 * contact.local_p1
+ manifold.data.normal * contact.dist / 2.0,
dist: contact.dist,
@@ -570,14 +572,6 @@ impl NarrowPhase {
has_any_active_contact = true;
continue;
}
// If we reach this code, then the contact must be ignored by the constraints solver.
// Swap with the last contact.
manifold.points.swap(
manifold.data.num_active_contacts(),
first_inactive_index - 1,
);
first_inactive_index -= 1;
}
}