Second round to fix the parallel solver.

1 files changed, 6 insertions, 57 deletions

diff --git a/src/dynamics/solver/generic_velocity_constraint.rs b/src/dynamics/solver/generic_velocity_constraint.rs
index a304008..99dc40e 100644
--- a/src/dynamics/solver/generic_velocity_constraint.rs
+++ b/src/dynamics/solver/generic_velocity_constraint.rs
@@ -8,65 +8,14 @@ use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::math::{Real, DIM, MAX_MANIFOLD_POINTS};
 use crate::utils::{WAngularInertia, WCross, WDot};
 
-use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart};
-use crate::dynamics::solver::GenericVelocityGroundConstraint;
+use super::{
+    AnyVelocityConstraint, DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart,
+};
 #[cfg(feature = "dim2")]
 use crate::utils::WBasis;
 use na::DVector;
 
 #[derive(Copy, Clone, Debug)]
-pub(crate) enum AnyGenericVelocityConstraint {
-    NongroupedGround(GenericVelocityGroundConstraint),
-    Nongrouped(GenericVelocityConstraint),
-}
-
-impl AnyGenericVelocityConstraint {
-    pub fn solve(
-        &mut self,
-        cfm_factor: Real,
-        jacobians: &DVector<Real>,
-        mj_lambdas: &mut [DeltaVel<Real>],
-        generic_mj_lambdas: &mut DVector<Real>,
-        solve_restitution: bool,
-        solve_friction: bool,
-    ) {
-        match self {
-            AnyGenericVelocityConstraint::Nongrouped(c) => c.solve(
-                cfm_factor,
-                jacobians,
-                mj_lambdas,
-                generic_mj_lambdas,
-                solve_restitution,
-                solve_friction,
-            ),
-            AnyGenericVelocityConstraint::NongroupedGround(c) => c.solve(
-                cfm_factor,
-                jacobians,
-                generic_mj_lambdas,
-                solve_restitution,
-                solve_friction,
-            ),
-        }
-    }
-
-    pub fn writeback_impulses(&self, manifolds_all: &mut [&mut ContactManifold]) {
-        match self {
-            AnyGenericVelocityConstraint::Nongrouped(c) => c.writeback_impulses(manifolds_all),
-            AnyGenericVelocityConstraint::NongroupedGround(c) => {
-                c.writeback_impulses(manifolds_all)
-            }
-        }
-    }
-
-    pub fn remove_bias_from_rhs(&mut self) {
-        match self {
-            AnyGenericVelocityConstraint::Nongrouped(c) => c.remove_bias_from_rhs(),
-            AnyGenericVelocityConstraint::NongroupedGround(c) => c.remove_bias_from_rhs(),
-        }
-    }
-}
-
-#[derive(Copy, Clone, Debug)]
 pub(crate) struct GenericVelocityConstraint {
     // We just build the generic constraint on top of the velocity constraint,
     // adding some information we can use in the generic case.
@@ -84,7 +33,7 @@ impl GenericVelocityConstraint {
         manifold: &ContactManifold,
         bodies: &Bodies,
         multibodies: &MultibodyJointSet,
-        out_constraints: &mut Vec<AnyGenericVelocityConstraint>,
+        out_constraints: &mut Vec<AnyVelocityConstraint>,
         jacobians: &mut DVector<Real>,
         jacobian_id: &mut usize,
         push: bool,
@@ -372,10 +321,10 @@ impl GenericVelocityConstraint {
             };
 
             if push {
-                out_constraints.push(AnyGenericVelocityConstraint::Nongrouped(constraint));
+                out_constraints.push(AnyVelocityConstraint::NongroupedGeneric(constraint));
             } else {
                 out_constraints[manifold.data.constraint_index + _l] =
-                    AnyGenericVelocityConstraint::Nongrouped(constraint);
+                    AnyVelocityConstraint::NongroupedGeneric(constraint);
             }
         }
     }