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Finalize refactoring

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This commit is contained in:
Sébastien Crozet
2022-04-20 12:29:57 +02:00
committed by Sébastien Crozet
parent 2b1374c596
commit f108520b5a
32 changed files with 707 additions and 1030 deletions
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55
src/dynamics/solver/interaction_groups.rs
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@@ -3,7 +3,6 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex};
#[cfg(feature = "simd-is-enabled")]
use {
crate::data::BundleSet,
crate::math::{SIMD_LAST_INDEX, SIMD_WIDTH},
vec_map::VecMap,
};
@@ -90,14 +89,8 @@ impl ParallelInteractionGroups {
.zip(self.interaction_colors.iter_mut())
{
let mut body_pair = interactions[*interaction_id].body_pair();
let is_fixed1 = body_pair
.0
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
.unwrap_or(true);
let is_fixed2 = body_pair
.1
.map(|b| ComponentSet::<RigidBodyType>::index(bodies, b.0).is_fixed())
.unwrap_or(true);
let is_fixed1 = body_pair.0.map(|b| bodies[b].is_fixed()).unwrap_or(true);
let is_fixed2 = body_pair.1.map(|b| bodies[b].is_fixed()).unwrap_or(true);
let representative = |handle: RigidBodyHandle| {
if let Some(link) = multibodies.rigid_body_link(handle).copied() {
@@ -119,28 +112,28 @@ impl ParallelInteractionGroups {
match (is_fixed1, is_fixed2) {
(false, false) => {
let rb_ids1: &RigidBodyIds = bodies.index(body_pair.0.unwrap().0);
let rb_ids2: &RigidBodyIds = bodies.index(body_pair.1.unwrap().0);
let rb1 = &bodies[body_pair.0.unwrap()];
let rb2 = &bodies[body_pair.1.unwrap()];
let color_mask =
bcolors[rb_ids1.active_set_offset] | bcolors[rb_ids2.active_set_offset];
bcolors[rb1.ids.active_set_offset] | bcolors[rb2.ids.active_set_offset];
*color = (!color_mask).trailing_zeros() as usize;
color_len[*color] += 1;
bcolors[rb_ids1.active_set_offset] |= 1 << *color;
bcolors[rb_ids2.active_set_offset] |= 1 << *color;
bcolors[rb1.ids.active_set_offset] |= 1 << *color;
bcolors[rb2.ids.active_set_offset] |= 1 << *color;
}
(true, false) => {
let rb_ids2: &RigidBodyIds = bodies.index(body_pair.1.unwrap().0);
let color_mask = bcolors[rb_ids2.active_set_offset];
let rb2 = &bodies[body_pair.1.unwrap()];
let color_mask = bcolors[rb2.ids.active_set_offset];
*color = 127 - (!color_mask).leading_zeros() as usize;
color_len[*color] += 1;
bcolors[rb_ids2.active_set_offset] |= 1 << *color;
bcolors[rb2.ids.active_set_offset] |= 1 << *color;
}
(false, true) => {
let rb_ids1: &RigidBodyIds = bodies.index(body_pair.0.unwrap().0);
let color_mask = bcolors[rb_ids1.active_set_offset];
let rb1 = &bodies[body_pair.0.unwrap()];
let color_mask = bcolors[rb1.ids.active_set_offset];
*color = 127 - (!color_mask).leading_zeros() as usize;
color_len[*color] += 1;
bcolors[rb_ids1.active_set_offset] |= 1 << *color;
bcolors[rb1.ids.active_set_offset] |= 1 << *color;
}
(true, true) => unreachable!(),
}
@@ -258,13 +251,11 @@ impl InteractionGroups {
for interaction_i in interaction_indices {
let interaction = &interactions[*interaction_i].weight;
let (status1, ids1): (&RigidBodyType, &RigidBodyIds) =
bodies.index_bundle(interaction.body1.0);
let (status2, ids2): (&RigidBodyType, &RigidBodyIds) =
bodies.index_bundle(interaction.body2.0);
let rb1 = &bodies[interaction.body1];
let rb2 = &bodies[interaction.body2];
let is_fixed1 = !status1.is_dynamic();
let is_fixed2 = !status2.is_dynamic();
let is_fixed1 = !rb1.is_dynamic();
let is_fixed2 = !rb2.is_dynamic();
if is_fixed1 && is_fixed2 {
continue;
@@ -277,8 +268,8 @@ impl InteractionGroups {
}
let ijoint = interaction.data.locked_axes.bits() as usize;
let i1 = ids1.active_set_offset;
let i2 = ids2.active_set_offset;
let i1 = rb1.ids.active_set_offset;
let i2 = rb2.ids.active_set_offset;
let conflicts =
self.body_masks[i1] | self.body_masks[i2] | joint_type_conflicts[ijoint];
let conflictfree_targets = !(conflicts & occupied_mask); // The & is because we consider empty buckets as free of conflicts.
@@ -421,15 +412,15 @@ impl InteractionGroups {
let (status1, active_set_offset1) = if let Some(rb1) = interaction.data.rigid_body1
{
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb1.0);
(*data.0, data.1.active_set_offset)
let rb1 = &bodies[rb1];
(rb1.body_type, rb1.ids.active_set_offset)
} else {
(RigidBodyType::Fixed, usize::MAX)
};
let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2
{
let data: (_, &RigidBodyIds) = bodies.index_bundle(rb2.0);
(*data.0, data.1.active_set_offset)
let rb2 = &bodies[rb2];
(rb2.body_type, rb2.ids.active_set_offset)
} else {
(RigidBodyType::Fixed, usize::MAX)
};