Move all the contact manifold computations out of Rapier.

1 files changed, 0 insertions, 308 deletions

diff --git a/src/geometry/contact.rs b/src/geometry/contact.rs
deleted file mode 100644
index 14646d9..0000000
--- a/src/geometry/contact.rs
+++ /dev/null
@@ -1,308 +0,0 @@
-use crate::buckler::query::TrackedData;
-use crate::data::MaybeSerializableData;
-use crate::dynamics::{BodyPair, RigidBodyHandle, RigidBodySet};
-use crate::geometry::contact_generator::{ContactGeneratorWorkspace, ContactPhase};
-use crate::geometry::{Collider, ColliderPair, ColliderSet, Contact, ContactManifold};
-use crate::math::{Isometry, Point, Vector};
-#[cfg(feature = "simd-is-enabled")]
-use {
-    crate::math::{SimdReal, SIMD_WIDTH},
-    simba::simd::SimdValue,
-};
-
-bitflags::bitflags! {
-    #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-    /// Flags affecting the behavior of the constraints solver for a given contact manifold.
-    pub struct SolverFlags: u32 {
-        /// The constraint solver will take this contact manifold into
-        /// account for force computation.
-        const COMPUTE_IMPULSES = 0b01;
-    }
-}
-
-#[cfg(feature = "simd-is-enabled")]
-pub(crate) struct WContact {
-    pub local_p1: Point<SimdReal>,
-    pub local_p2: Point<SimdReal>,
-    pub local_n1: Vector<SimdReal>,
-    pub local_n2: Vector<SimdReal>,
-    pub dist: SimdReal,
-    pub fid1: [u8; SIMD_WIDTH],
-    pub fid2: [u8; SIMD_WIDTH],
-}
-
-#[cfg(feature = "simd-is-enabled")]
-impl WContact {
-    pub fn extract(&self, i: usize) -> (Contact, Vector<f32>, Vector<f32>) {
-        let c = Contact {
-            local_p1: self.local_p1.extract(i),
-            local_p2: self.local_p2.extract(i),
-            dist: self.dist.extract(i),
-            fid1: self.fid1[i],
-            fid2: self.fid2[i],
-            data: ContactData::default(),
-        };
-
-        (c, self.local_n1.extract(i), self.local_n2.extract(i))
-    }
-}
-
-#[derive(Copy, Clone, Debug)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-/// A single contact between two collider.
-pub struct ContactData {
-    /// The impulse, along the contact normal, applied by this contact to the first collider's rigid-body.
-    ///
-    /// The impulse applied to the second collider's rigid-body is given by `-impulse`.
-    pub impulse: f32,
-    /// The friction impulse along the vector orthonormal to the contact normal, applied to the first
-    /// collider's rigid-body.
-    #[cfg(feature = "dim2")]
-    pub tangent_impulse: f32,
-    /// The friction impulses along the basis orthonormal to the contact normal, applied to the first
-    /// collider's rigid-body.
-    #[cfg(feature = "dim3")]
-    pub tangent_impulse: [f32; 2],
-}
-
-impl ContactData {
-    #[cfg(feature = "dim2")]
-    pub(crate) fn zero_tangent_impulse() -> f32 {
-        0.0
-    }
-
-    #[cfg(feature = "dim3")]
-    pub(crate) fn zero_tangent_impulse() -> [f32; 2] {
-        [0.0, 0.0]
-    }
-}
-
-impl Default for ContactData {
-    fn default() -> Self {
-        Self {
-            impulse: 0.0,
-            tangent_impulse: Self::zero_tangent_impulse(),
-        }
-    }
-}
-
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-#[derive(Clone)]
-/// The description of all the contacts between a pair of colliders.
-pub struct ContactPair {
-    /// The pair of colliders involved.
-    pub pair: ColliderPair,
-    /// The set of contact manifolds between the two colliders.
-    ///
-    /// All contact manifold contain themselves contact points between the colliders.
-    pub manifolds: Vec<ContactManifold>,
-    #[cfg_attr(feature = "serde-serialize", serde(skip))]
-    pub(crate) generator: Option<ContactPhase>,
-    pub(crate) generator_workspace: Option<ContactGeneratorWorkspace>,
-}
-
-impl ContactPair {
-    pub(crate) fn new(
-        pair: ColliderPair,
-        generator: ContactPhase,
-        generator_workspace: Option<ContactGeneratorWorkspace>,
-    ) -> Self {
-        Self {
-            pair,
-            manifolds: Vec::new(),
-            generator: Some(generator),
-            generator_workspace,
-        }
-    }
-
-    /// Does this contact pair have any active contact?
-    ///
-    /// An active contact is a contact that may result in a non-zero contact force.
-    pub fn has_any_active_contact(&self) -> bool {
-        for manifold in &self.manifolds {
-            if manifold.num_active_contacts != 0 {
-                return true;
-            }
-        }
-
-        false
-    }
-
-    pub(crate) fn single_manifold<'a, 'b>(
-        &'a mut self,
-        colliders: &'b ColliderSet,
-        flags: SolverFlags,
-    ) -> (
-        &'b Collider,
-        &'b Collider,
-        &'a mut ContactManifold,
-        Option<&'a mut (dyn MaybeSerializableData)>,
-    ) {
-        let coll1 = &colliders[self.pair.collider1];
-        let coll2 = &colliders[self.pair.collider2];
-
-        if self.manifolds.len() == 0 {
-            let manifold_data = ContactManifoldData::from_colliders(self.pair, coll1, coll2, flags);
-            self.manifolds
-                .push(ContactManifold::with_data((0, 0), manifold_data));
-        }
-
-        // We have to make sure the order of the returned collider
-        // match the order of the pair stored inside of the manifold.
-        // (This order can be modified by the contact determination algorithm).
-        let manifold = &mut self.manifolds[0];
-        if manifold.data.pair.collider1 == self.pair.collider1 {
-            (
-                coll1,
-                coll2,
-                manifold,
-                self.generator_workspace.as_mut().map(|w| &mut *w.0),
-            )
-        } else {
-            (
-                coll2,
-                coll1,
-                manifold,
-                self.generator_workspace.as_mut().map(|w| &mut *w.0),
-            )
-        }
-    }
-}
-
-#[derive(Clone, Debug)]
-#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
-/// A contact manifold between two colliders.
-///
-/// A contact manifold describes a set of contacts between two colliders. All the contact
-/// part of the same contact manifold share the same contact normal and contact kinematics.
-pub struct ContactManifoldData {
-    // The following are set by the narrow-phase.
-    /// The pair of colliders involved in this contact manifold.
-    pub pair: ColliderPair,
-    /// The pair of body involved in this contact manifold.
-    pub body_pair: BodyPair,
-    pub(crate) warmstart_multiplier: f32,
-    // The two following are set by the constraints solver.
-    pub(crate) constraint_index: usize,
-    pub(crate) position_constraint_index: usize,
-    // We put the following fields here to avoids reading the colliders inside of the
-    // contact preparation method.
-    /// The friction coefficient for of all the contacts on this contact manifold.
-    pub friction: f32,
-    /// The restitution coefficient for all the contacts on this contact manifold.
-    pub restitution: f32,
-    /// The relative position between the first collider and its parent at the time the
-    /// contact points were generated.
-    pub delta1: Isometry<f32>,
-    /// The relative position between the second collider and its parent at the time the
-    /// contact points were generated.
-    pub delta2: Isometry<f32>,
-    /// Flags used to control some aspects of the constraints solver for this contact manifold.
-    pub solver_flags: SolverFlags,
-}
-
-impl Default for ContactManifoldData {
-    fn default() -> Self {
-        Self::new(
-            ColliderPair::new(ColliderSet::invalid_handle(), ColliderSet::invalid_handle()),
-            BodyPair::new(
-                RigidBodySet::invalid_handle(),
-                RigidBodySet::invalid_handle(),
-            ),
-            Isometry::identity(),
-            Isometry::identity(),
-            0.0,
-            0.0,
-            SolverFlags::empty(),
-        )
-    }
-}
-
-impl TrackedData for ContactManifoldData {
-    fn flip(&mut self) {
-        std::mem::swap(&mut self.pair.collider1, &mut self.pair.collider2);
-        std::mem::swap(&mut self.body_pair.body1, &mut self.body_pair.body2);
-        std::mem::swap(&mut self.delta1, &mut self.delta2);
-    }
-}
-
-impl ContactManifoldData {
-    pub(crate) fn new(
-        pair: ColliderPair,
-        body_pair: BodyPair,
-        delta1: Isometry<f32>,
-        delta2: Isometry<f32>,
-        friction: f32,
-        restitution: f32,
-        solver_flags: SolverFlags,
-    ) -> ContactManifoldData {
-        Self {
-            pair,
-            body_pair,
-            warmstart_multiplier: Self::min_warmstart_multiplier(),
-            friction,
-            restitution,
-            delta1,
-            delta2,
-            constraint_index: 0,
-            position_constraint_index: 0,
-            solver_flags,
-        }
-    }
-
-    pub(crate) fn from_colliders(
-        pair: ColliderPair,
-        coll1: &Collider,
-        coll2: &Collider,
-        flags: SolverFlags,
-    ) -> Self {
-        Self::with_subshape_indices(pair, coll1, coll2, flags)
-    }
-
-    pub(crate) fn with_subshape_indices(
-        pair: ColliderPair,
-        coll1: &Collider,
-        coll2: &Collider,
-        solver_flags: SolverFlags,
-    ) -> Self {
-        Self::new(
-            pair,
-            BodyPair::new(coll1.parent, coll2.parent),
-            *coll1.position_wrt_parent(),
-            *coll2.position_wrt_parent(),
-            (coll1.friction + coll2.friction) * 0.5,
-            (coll1.restitution + coll2.restitution) * 0.5,
-            solver_flags,
-        )
-    }
-
-    pub(crate) fn min_warmstart_multiplier() -> f32 {
-        // Multiplier used to reduce the amount of warm-starting.
-        // This coefficient increases exponentially over time, until it reaches 1.0.
-        // This will reduce significant overshoot at the timesteps that
-        // follow a timestep involving high-velocity impacts.
-        0.01
-    }
-
-    pub(crate) fn update_warmstart_multiplier(manifold: &mut ContactManifold) {
-        // In 2D, tall stacks will actually suffer from this
-        // because oscillation due to inaccuracies in 2D often
-        // cause contacts to break, which would result in
-        // a reset of the warmstart multiplier.
-        if cfg!(feature = "dim2") {
-            manifold.data.warmstart_multiplier = 1.0;
-            return;
-        }
-
-        for pt in &manifold.points {
-            if pt.data.impulse != 0.0 {
-                manifold.data.warmstart_multiplier =
-                    (manifold.data.warmstart_multiplier * 2.0).min(1.0);
-                return;
-            }
-        }
-
-        // Reset the multiplier.
-        manifold.data.warmstart_multiplier = Self::min_warmstart_multiplier()
-    }
-}