First public release of Rapier.v0.1.0

1 files changed, 73 insertions, 0 deletions

diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
new file mode 100644
index 0000000..7ce142a
--- /dev/null
+++ b/src/dynamics/solver/island_solver.rs
@@ -0,0 +1,73 @@
+use super::{PositionSolver, VelocitySolver};
+use crate::counters::Counters;
+use crate::dynamics::{IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet};
+use crate::geometry::{ContactManifold, ContactManifoldIndex};
+
+pub struct IslandSolver {
+    velocity_solver: VelocitySolver,
+    position_solver: PositionSolver,
+}
+
+impl IslandSolver {
+    pub fn new() -> Self {
+        Self {
+            velocity_solver: VelocitySolver::new(),
+            position_solver: PositionSolver::new(),
+        }
+    }
+
+    pub fn solve_island(
+        &mut self,
+        island_id: usize,
+        counters: &mut Counters,
+        params: &IntegrationParameters,
+        bodies: &mut RigidBodySet,
+        manifolds: &mut [&mut ContactManifold],
+        manifold_indices: &[ContactManifoldIndex],
+        joints: &mut [JointGraphEdge],
+        joint_indices: &[JointIndex],
+    ) {
+        if manifold_indices.len() != 0 || joint_indices.len() != 0 {
+            counters.solver.velocity_assembly_time.resume();
+            self.velocity_solver.init_constraints(
+                island_id,
+                params,
+                bodies,
+                manifolds,
+                &manifold_indices,
+                joints,
+                &joint_indices,
+            );
+            counters.solver.velocity_assembly_time.pause();
+
+            counters.solver.velocity_resolution_time.resume();
+            self.velocity_solver
+                .solve_constraints(island_id, params, bodies, manifolds, joints);
+            counters.solver.velocity_resolution_time.pause();
+
+            counters.solver.position_assembly_time.resume();
+            self.position_solver.init_constraints(
+                island_id,
+                params,
+                bodies,
+                manifolds,
+                &manifold_indices,
+                joints,
+                &joint_indices,
+            );
+            counters.solver.position_assembly_time.pause();
+        }
+
+        counters.solver.velocity_update_time.resume();
+        bodies
+            .foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt()));
+        counters.solver.velocity_update_time.pause();
+
+        if manifold_indices.len() != 0 || joint_indices.len() != 0 {
+            counters.solver.position_resolution_time.resume();
+            self.position_solver
+                .solve_constraints(island_id, params, bodies);
+            counters.solver.position_resolution_time.pause();
+        }
+    }
+}