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Split rigid-bodies and colliders into multiple components

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This commit is contained in:
Crozet Sébastien
2021-04-26 17:59:25 +02:00
parent aaf80bfa87
commit c32da78f2a
91 changed files with 5969 additions and 3653 deletions
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56
src/dynamics/solver/joint_constraint/ball_position_constraint.rs
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@@ -1,4 +1,6 @@
use crate::dynamics::{BallJoint, IntegrationParameters, RigidBody};
use crate::dynamics::{
BallJoint, IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyPosition,
};
#[cfg(feature = "dim2")]
use crate::math::SdpMatrix;
use crate::math::{AngularInertia, Isometry, Point, Real, Rotation};
@@ -23,18 +25,25 @@ pub(crate) struct BallPositionConstraint {
}
impl BallPositionConstraint {
pub fn from_params(rb1: &RigidBody, rb2: &RigidBody, cparams: &BallJoint) -> Self {
pub fn from_params(
rb1: (&RigidBodyMassProps, &RigidBodyIds),
rb2: (&RigidBodyMassProps, &RigidBodyIds),
cparams: &BallJoint,
) -> Self {
let (mprops1, ids1) = rb1;
let (mprops2, ids2) = rb2;
Self {
local_com1: rb1.mass_properties.local_com,
local_com2: rb2.mass_properties.local_com,
im1: rb1.effective_inv_mass,
im2: rb2.effective_inv_mass,
ii1: rb1.effective_world_inv_inertia_sqrt.squared(),
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
im1: mprops1.effective_inv_mass,
im2: mprops2.effective_inv_mass,
ii1: mprops1.effective_world_inv_inertia_sqrt.squared(),
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor1: cparams.local_anchor1,
local_anchor2: cparams.local_anchor2,
position1: rb1.active_set_offset,
position2: rb2.active_set_offset,
position1: ids1.active_set_offset,
position2: ids2.active_set_offset,
}
}
@@ -104,31 +113,34 @@ pub(crate) struct BallPositionGroundConstraint {
impl BallPositionGroundConstraint {
pub fn from_params(
rb1: &RigidBody,
rb2: &RigidBody,
rb1: &RigidBodyPosition,
rb2: (&RigidBodyMassProps, &RigidBodyIds),
cparams: &BallJoint,
flipped: bool,
) -> Self {
let poss1 = rb1;
let (mprops2, ids2) = rb2;
if flipped {
// Note the only thing that is flipped here
// are the local_anchors. The rb1 and rb2 have
// already been flipped by the caller.
Self {
anchor1: rb1.next_position * cparams.local_anchor2,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
anchor1: poss1.next_position * cparams.local_anchor2,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor1,
position2: rb2.active_set_offset,
local_com2: rb2.mass_properties.local_com,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
}
} else {
Self {
anchor1: rb1.next_position * cparams.local_anchor1,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
anchor1: poss1.next_position * cparams.local_anchor1,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_anchor2: cparams.local_anchor2,
position2: rb2.active_set_offset,
local_com2: rb2.mass_properties.local_com,
position2: ids2.active_set_offset,
local_com2: mprops2.mass_properties.local_com,
}
}
}