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| author | Sébastien Crozet <developer@crozet.re> | 2022-02-27 22:04:51 +0100 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2022-03-20 21:49:16 +0100 |
| commit | 2e6f133b95b614f13445722e54f28105d9664841 (patch) | |
| tree | 364ce4cb1b73614fca0bd8f443385c73e7a64026 /src/dynamics/solver/solver_constraints.rs | |
| parent | 28cc19d104d986db54d8725e68189070bef31a8a (diff) | |
| download | rapier-2e6f133b95b614f13445722e54f28105d9664841.tar.gz rapier-2e6f133b95b614f13445722e54f28105d9664841.tar.bz2 rapier-2e6f133b95b614f13445722e54f28105d9664841.zip | |
Second round to fix the parallel solver.
Diffstat (limited to 'src/dynamics/solver/solver_constraints.rs')
| -rw-r--r-- | src/dynamics/solver/solver_constraints.rs | 20 |
1 files changed, 6 insertions, 14 deletions
diff --git a/src/dynamics/solver/solver_constraints.rs b/src/dynamics/solver/solver_constraints.rs index b126f52..e780e58 100644 --- a/src/dynamics/solver/solver_constraints.rs +++ b/src/dynamics/solver/solver_constraints.rs @@ -6,7 +6,6 @@ use super::{WVelocityConstraint, WVelocityGroundConstraint}; use crate::data::ComponentSet; use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints}; use crate::dynamics::solver::generic_velocity_ground_constraint::GenericVelocityGroundConstraint; -use crate::dynamics::solver::AnyGenericVelocityConstraint; use crate::dynamics::solver::GenericVelocityConstraint; use crate::dynamics::{ solver::AnyVelocityConstraint, IntegrationParameters, JointGraphEdge, JointIndex, @@ -19,7 +18,7 @@ use crate::math::Real; use crate::math::SIMD_WIDTH; use na::DVector; -pub(crate) struct SolverConstraints<VelocityConstraint, GenVelocityConstraint> { +pub(crate) struct SolverConstraints<VelocityConstraint> { pub generic_jacobians: DVector<Real>, pub not_ground_interactions: Vec<usize>, pub ground_interactions: Vec<usize>, @@ -28,12 +27,9 @@ pub(crate) struct SolverConstraints<VelocityConstraint, GenVelocityConstraint> { pub interaction_groups: InteractionGroups, pub ground_interaction_groups: InteractionGroups, pub velocity_constraints: Vec<VelocityConstraint>, - pub generic_velocity_constraints: Vec<GenVelocityConstraint>, } -impl<VelocityConstraint, GenVelocityConstraint> - SolverConstraints<VelocityConstraint, GenVelocityConstraint> -{ +impl<VelocityConstraint> SolverConstraints<VelocityConstraint> { pub fn new() -> Self { Self { generic_jacobians: DVector::zeros(0), @@ -44,7 +40,6 @@ impl<VelocityConstraint, GenVelocityConstraint> interaction_groups: InteractionGroups::new(), ground_interaction_groups: InteractionGroups::new(), velocity_constraints: vec![], - generic_velocity_constraints: vec![], } } @@ -56,11 +51,10 @@ impl<VelocityConstraint, GenVelocityConstraint> self.interaction_groups.clear(); self.ground_interaction_groups.clear(); self.velocity_constraints.clear(); - self.generic_velocity_constraints.clear(); } } -impl SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint> { +impl SolverConstraints<AnyVelocityConstraint> { pub fn init_constraint_groups<Bodies>( &mut self, island_id: usize, @@ -132,7 +126,6 @@ impl SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint> { + ComponentSet<RigidBodyType>, { self.velocity_constraints.clear(); - self.generic_velocity_constraints.clear(); self.init_constraint_groups( island_id, @@ -247,7 +240,7 @@ impl SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint> { manifold, bodies, multibody_joints, - &mut self.generic_velocity_constraints, + &mut self.velocity_constraints, &mut self.generic_jacobians, jacobian_id, true, @@ -277,7 +270,7 @@ impl SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint> { manifold, bodies, multibody_joints, - &mut self.generic_velocity_constraints, + &mut self.velocity_constraints, &mut self.generic_jacobians, jacobian_id, true, @@ -340,7 +333,7 @@ impl SolverConstraints<AnyVelocityConstraint, AnyGenericVelocityConstraint> { } } -impl SolverConstraints<AnyJointVelocityConstraint, ()> { +impl SolverConstraints<AnyJointVelocityConstraint> { pub fn init<Bodies>( &mut self, island_id: usize, @@ -375,7 +368,6 @@ impl SolverConstraints<AnyJointVelocityConstraint, ()> { ); self.velocity_constraints.clear(); - self.generic_velocity_constraints.clear(); self.interaction_groups.clear_groups(); self.interaction_groups.group_joints( |