Implement multibody joints and the new solver

1 files changed, 0 insertions, 121 deletions

diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs
deleted file mode 100644
index 53df7f8..0000000
--- a/src/dynamics/solver/position_ground_constraint.rs
+++ /dev/null
@@ -1,121 +0,0 @@
-use super::AnyPositionConstraint;
-use crate::data::{BundleSet, ComponentSet};
-use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyPosition};
-use crate::geometry::ContactManifold;
-use crate::math::{
-    AngularInertia, Isometry, Point, Real, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS,
-};
-use crate::utils::{WAngularInertia, WCross, WDot};
-
-pub(crate) struct PositionGroundConstraint {
-    pub rb2: usize,
-    // NOTE: the points are relative to the center of masses.
-    pub p1: [Point<Real>; MAX_MANIFOLD_POINTS],
-    pub local_p2: [Point<Real>; MAX_MANIFOLD_POINTS],
-    pub dists: [Real; MAX_MANIFOLD_POINTS],
-    pub n1: Vector<Real>,
-    pub num_contacts: u8,
-    pub im2: Real,
-    pub ii2: AngularInertia<Real>,
-    pub erp: Real,
-    pub max_linear_correction: Real,
-}
-
-impl PositionGroundConstraint {
-    pub fn generate<Bodies>(
-        params: &IntegrationParameters,
-        manifold: &ContactManifold,
-        bodies: &Bodies,
-        out_constraints: &mut Vec<AnyPositionConstraint>,
-        push: bool,
-    ) where
-        Bodies: ComponentSet<RigidBodyPosition>
-            + ComponentSet<RigidBodyMassProps>
-            + ComponentSet<RigidBodyIds>,
-    {
-        let flip = manifold.data.relative_dominance < 0;
-
-        let (handle2, n1) = if flip {
-            (manifold.data.rigid_body1.unwrap(), -manifold.data.normal)
-        } else {
-            (manifold.data.rigid_body2.unwrap(), manifold.data.normal)
-        };
-
-        let (ids2, poss2, mprops2): (&RigidBodyIds, &RigidBodyPosition, &RigidBodyMassProps) =
-            bodies.index_bundle(handle2.0);
-
-        for (l, manifold_contacts) in manifold
-            .data
-            .solver_contacts
-            .chunks(MAX_MANIFOLD_POINTS)
-            .enumerate()
-        {
-            let mut p1 = [Point::origin(); MAX_MANIFOLD_POINTS];
-            let mut local_p2 = [Point::origin(); MAX_MANIFOLD_POINTS];
-            let mut dists = [0.0; MAX_MANIFOLD_POINTS];
-
-            for k in 0..manifold_contacts.len() {
-                p1[k] = manifold_contacts[k].point;
-                local_p2[k] = poss2
-                    .position
-                    .inverse_transform_point(&manifold_contacts[k].point);
-                dists[k] = manifold_contacts[k].dist;
-            }
-
-            let constraint = PositionGroundConstraint {
-                rb2: ids2.active_set_offset,
-                p1,
-                local_p2,
-                n1,
-                dists,
-                im2: mprops2.effective_inv_mass,
-                ii2: mprops2.effective_world_inv_inertia_sqrt.squared(),
-                num_contacts: manifold_contacts.len() as u8,
-                erp: params.erp,
-                max_linear_correction: params.max_linear_correction,
-            };
-
-            if push {
-                out_constraints.push(AnyPositionConstraint::NonGroupedGround(constraint));
-            } else {
-                out_constraints[manifold.data.constraint_index + l] =
-                    AnyPositionConstraint::NonGroupedGround(constraint);
-            }
-        }
-    }
-
-    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
-        // FIXME: can we avoid most of the multiplications by pos1/pos2?
-        // Compute jacobians.
-        let mut pos2 = positions[self.rb2];
-        let allowed_err = params.allowed_linear_error;
-
-        for k in 0..self.num_contacts as usize {
-            let target_dist = -self.dists[k] - allowed_err;
-            let n1 = self.n1;
-            let p1 = self.p1[k];
-            let p2 = pos2 * self.local_p2[k];
-            let dpos = p2 - p1;
-            let dist = dpos.dot(&n1);
-
-            if dist < target_dist {
-                let err = ((dist - target_dist) * self.erp).max(-self.max_linear_correction);
-                let dp2 = p2.coords - pos2.translation.vector;
-
-                let gcross2 = -dp2.gcross(n1);
-                let ii_gcross2 = self.ii2.transform_vector(gcross2);
-
-                // Compute impulse.
-                let inv_r = self.im2 + gcross2.gdot(ii_gcross2);
-                let impulse = err / inv_r;
-
-                // Apply impulse.
-                let tra2 = Translation::from(n1 * (-impulse * self.im2));
-                let rot2 = Rotation::new(ii_gcross2 * impulse);
-                pos2 = Isometry::from_parts(tra2 * pos2.translation, rot2 * pos2.rotation);
-            }
-        }
-
-        positions[self.rb2] = pos2;
-    }
-}