Remove code related to point-point kinematics.

1 files changed, 5 insertions, 72 deletions

diff --git a/src/dynamics/solver/position_constraint_wide.rs b/src/dynamics/solver/position_constraint_wide.rs
index a00886d..3a3abb0 100644
--- a/src/dynamics/solver/position_constraint_wide.rs
+++ b/src/dynamics/solver/position_constraint_wide.rs
@@ -1,6 +1,6 @@
 use super::AnyPositionConstraint;
 use crate::dynamics::{IntegrationParameters, RigidBodySet};
-use crate::geometry::{ContactManifold, KinematicsCategory};
+use crate::geometry::ContactManifold;
 use crate::math::{
     AngularInertia, Isometry, Point, Rotation, SimdReal, Translation, Vector, MAX_MANIFOLD_POINTS,
     SIMD_WIDTH,
@@ -86,82 +86,15 @@ impl WPositionConstraint {
             }
 
             if push {
-                if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
-                    out_constraints.push(AnyPositionConstraint::GroupedPointPoint(constraint));
-                } else {
-                    out_constraints.push(AnyPositionConstraint::GroupedPlanePoint(constraint));
-                }
+                out_constraints.push(AnyPositionConstraint::GroupedNonGround(constraint));
             } else {
-                if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
-                    out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
-                        AnyPositionConstraint::GroupedPointPoint(constraint);
-                } else {
-                    out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
-                        AnyPositionConstraint::GroupedPlanePoint(constraint);
-                }
+                out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
+                    AnyPositionConstraint::GroupedNonGround(constraint);
             }
         }
     }
 
-    pub fn solve_point_point(
-        &self,
-        params: &IntegrationParameters,
-        positions: &mut [Isometry<f32>],
-    ) {
-        // FIXME: can we avoid most of the multiplications by pos1/pos2?
-        // Compute jacobians.
-        let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
-        let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
-        let allowed_err = SimdReal::splat(params.allowed_linear_error);
-
-        for k in 0..self.num_contacts as usize {
-            let target_dist = -self.dists[k] - allowed_err;
-            let p1 = pos1 * self.local_p1[k];
-            let p2 = pos2 * self.local_p2[k];
-
-            let dpos = p2 - p1;
-            let sqdist = dpos.norm_squared();
-
-            if sqdist.simd_lt(target_dist * target_dist).any() {
-                let dist = sqdist.simd_sqrt();
-                let n = dpos / dist;
-                let err = ((dist - target_dist) * self.erp)
-                    .simd_clamp(-self.max_linear_correction, SimdReal::zero());
-                let dp1 = p1.coords - pos1.translation.vector;
-                let dp2 = p2.coords - pos2.translation.vector;
-
-                let gcross1 = dp1.gcross(n);
-                let gcross2 = -dp2.gcross(n);
-                let ii_gcross1 = self.ii1.transform_vector(gcross1);
-                let ii_gcross2 = self.ii2.transform_vector(gcross2);
-
-                // Compute impulse.
-                let inv_r =
-                    self.im1 + self.im2 + gcross1.gdot(ii_gcross1) + gcross2.gdot(ii_gcross2);
-                let impulse = err / inv_r;
-
-                // Apply impulse.
-                pos1.translation = Translation::from(n * (impulse * self.im1)) * pos1.translation;
-                pos1.rotation = Rotation::new(ii_gcross1 * impulse) * pos1.rotation;
-                pos2.translation = Translation::from(n * (-impulse * self.im2)) * pos2.translation;
-                pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
-            }
-        }
-
-        for ii in 0..SIMD_WIDTH {
-            positions[self.rb1[ii]] = pos1.extract(ii);
-        }
-
-        for ii in 0..SIMD_WIDTH {
-            positions[self.rb2[ii]] = pos2.extract(ii);
-        }
-    }
-
-    pub fn solve_plane_point(
-        &self,
-        params: &IntegrationParameters,
-        positions: &mut [Isometry<f32>],
-    ) {
+    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
         // FIXME: can we avoid most of the multiplications by pos1/pos2?
         // Compute jacobians.
         let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);