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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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14
src/dynamics/solver/velocity_ground_constraint_wide.rs
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@@ -2,7 +2,9 @@ use super::{
AnyVelocityConstraint, DeltaVel, VelocityGroundConstraintElement,
VelocityGroundConstraintNormalPart,
};
use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyVelocity};
use crate::dynamics::{
IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodySet, RigidBodyVelocity,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{
AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH,
@@ -54,20 +56,20 @@ impl WVelocityGroundConstraint {
let vels1: [RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| {
handles1[ii]
.map(|h| *bodies.index(h.0))
.map(|h| bodies[h].vels)
.unwrap_or_else(RigidBodyVelocity::zero)
}];
let world_com1 = Point::from(gather![|ii| {
handles1[ii]
.map(|h| ComponentSet::<RigidBodyMassProps>::index(bodies, h.0).world_com)
.map(|h| bodies[h].mprops.world_com)
.unwrap_or_else(Point::origin)
}]);
let vels2: [&RigidBodyVelocity; SIMD_WIDTH] =
gather![|ii| bodies.index(handles2[ii].unwrap().0)];
let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].unwrap().0)];
gather![|ii| &bodies[handles2[ii].unwrap()].vels];
let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii].unwrap()].ids];
let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] =
gather![|ii| bodies.index(handles2[ii].unwrap().0)];
gather![|ii| &bodies[handles2[ii].unwrap()].mprops];
let flipped_sign = SimdReal::from(flipped);