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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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48
src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
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@@ -1,4 +1,6 @@
use crate::dynamics::{FixedJoint, IntegrationParameters, RigidBody};
use crate::dynamics::{
FixedJoint, IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyPosition,
};
use crate::math::{AngularInertia, Isometry, Point, Real, Rotation};
use crate::utils::WAngularInertia;
@@ -20,25 +22,32 @@ pub(crate) struct FixedPositionConstraint {
}
impl FixedPositionConstraint {
pub fn from_params(rb1: &RigidBody, rb2: &RigidBody, cparams: &FixedJoint) -> Self {
let ii1 = rb1.effective_world_inv_inertia_sqrt.squared();
let ii2 = rb2.effective_world_inv_inertia_sqrt.squared();
let im1 = rb1.effective_inv_mass;
let im2 = rb2.effective_inv_mass;
pub fn from_params(
rb1: (&RigidBodyMassProps, &RigidBodyIds),
rb2: (&RigidBodyMassProps, &RigidBodyIds),
cparams: &FixedJoint,
) -> Self {
let (mprops1, ids1) = rb1;
let (mprops2, ids2) = rb2;
let ii1 = mprops1.effective_world_inv_inertia_sqrt.squared();
let ii2 = mprops2.effective_world_inv_inertia_sqrt.squared();
let im1 = mprops1.effective_inv_mass;
let im2 = mprops2.effective_inv_mass;
let lin_inv_lhs = 1.0 / (im1 + im2);
let ang_inv_lhs = (ii1 + ii2).inverse();
Self {
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,
im1,
im2,
ii1,
ii2,
local_com1: rb1.mass_properties.local_com,
local_com2: rb2.mass_properties.local_com,
local_com1: mprops1.mass_properties.local_com,
local_com2: mprops2.mass_properties.local_com,
lin_inv_lhs,
ang_inv_lhs,
}
@@ -91,29 +100,32 @@ pub(crate) struct FixedPositionGroundConstraint {
impl FixedPositionGroundConstraint {
pub fn from_params(
rb1: &RigidBody,
rb2: &RigidBody,
rb1: &RigidBodyPosition,
rb2: (&RigidBodyMassProps, &RigidBodyIds),
cparams: &FixedJoint,
flipped: bool,
) -> Self {
let poss1 = rb1;
let (mprops2, ids2) = rb2;
let anchor1;
let local_anchor2;
if flipped {
anchor1 = rb1.next_position * cparams.local_anchor2;
anchor1 = poss1.next_position * cparams.local_anchor2;
local_anchor2 = cparams.local_anchor1;
} else {
anchor1 = rb1.next_position * cparams.local_anchor1;
anchor1 = poss1.next_position * cparams.local_anchor1;
local_anchor2 = cparams.local_anchor2;
};
Self {
anchor1,
local_anchor2,
position2: rb2.active_set_offset,
im2: rb2.effective_inv_mass,
ii2: rb2.effective_world_inv_inertia_sqrt.squared(),
local_com2: rb2.mass_properties.local_com,
position2: ids2.active_set_offset,
im2: mprops2.effective_inv_mass,
ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
local_com2: mprops2.mass_properties.local_com,
impulse: 0.0,
}
}