Implement multibody joints and the new solver

1 files changed, 0 insertions, 57 deletions

diff --git a/src/dynamics/solver/position_solver.rs b/src/dynamics/solver/position_solver.rs
deleted file mode 100644
index 48b71aa..0000000
--- a/src/dynamics/solver/position_solver.rs
+++ /dev/null
@@ -1,57 +0,0 @@
-use super::AnyJointPositionConstraint;
-use crate::data::{ComponentSet, ComponentSetMut};
-use crate::dynamics::{solver::AnyPositionConstraint, IntegrationParameters};
-use crate::dynamics::{IslandManager, RigidBodyIds, RigidBodyPosition};
-use crate::math::{Isometry, Real};
-
-pub(crate) struct PositionSolver {
-    positions: Vec<Isometry<Real>>,
-}
-
-impl PositionSolver {
-    pub fn new() -> Self {
-        Self {
-            positions: Vec::new(),
-        }
-    }
-
-    pub fn solve<Bodies>(
-        &mut self,
-        island_id: usize,
-        params: &IntegrationParameters,
-        islands: &IslandManager,
-        bodies: &mut Bodies,
-        contact_constraints: &[AnyPositionConstraint],
-        joint_constraints: &[AnyJointPositionConstraint],
-    ) where
-        Bodies: ComponentSet<RigidBodyIds> + ComponentSetMut<RigidBodyPosition>,
-    {
-        if contact_constraints.is_empty() && joint_constraints.is_empty() {
-            // Nothing to do.
-            return;
-        }
-
-        self.positions.clear();
-        self.positions
-            .extend(islands.active_island(island_id).iter().map(|h| {
-                let poss: &RigidBodyPosition = bodies.index(h.0);
-                poss.next_position
-            }));
-
-        for _ in 0..params.max_position_iterations {
-            for constraint in joint_constraints {
-                constraint.solve(params, &mut self.positions)
-            }
-
-            for constraint in contact_constraints {
-                constraint.solve(params, &mut self.positions)
-            }
-        }
-
-        for handle in islands.active_island(island_id) {
-            let ids: &RigidBodyIds = bodies.index(handle.0);
-            let next_pos = &self.positions[ids.active_set_offset];
-            bodies.map_mut_internal(handle.0, |poss| poss.next_position = *next_pos);
-        }
-    }
-}