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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-24 13:26:51 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-24 13:26:51 +0100 |
| commit | 96ecb877e290ad15459258a415aca64ca4af3a69 (patch) | |
| tree | ead6af02da8c021841dfe3f7ba5fa75e8339a12d /src/geometry | |
| parent | 3cc2738e5fdcb0d25818b550cdff93eab75f1b20 (diff) | |
| download | rapier-96ecb877e290ad15459258a415aca64ca4af3a69.tar.gz rapier-96ecb877e290ad15459258a415aca64ca4af3a69.tar.bz2 rapier-96ecb877e290ad15459258a415aca64ca4af3a69.zip | |
Implement dominance.
Diffstat (limited to 'src/geometry')
| -rw-r--r-- | src/geometry/contact_pair.rs | 5 | ||||
| -rw-r--r-- | src/geometry/narrow_phase.rs | 2 |
2 files changed, 6 insertions, 1 deletions
diff --git a/src/geometry/contact_pair.rs b/src/geometry/contact_pair.rs index 50094ca..5ef1ac1 100644 --- a/src/geometry/contact_pair.rs +++ b/src/geometry/contact_pair.rs @@ -113,6 +113,8 @@ pub struct ContactManifoldData { /// The contacts that will be seen by the constraints solver for computing forces. #[cfg_attr(feature = "serde-serialize", serde(skip))] pub solver_contacts: Vec<SolverContact>, + /// The relative dominance of the bodies involved in this contact manifold. + pub relative_dominance: i16, /// A user-defined piece of data. pub user_data: u32, } @@ -122,7 +124,7 @@ pub struct ContactManifoldData { #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))] pub struct SolverContact { /// The index of the manifold contact used to generate this solver contact. - pub contact_id: u8, + pub(crate) contact_id: u8, /// The world-space contact point. pub point: Point<Real>, /// The distance between the two original contacts points along the contact normal. @@ -177,6 +179,7 @@ impl ContactManifoldData { solver_flags, normal: Vector::zeros(), solver_contacts: Vec::new(), + relative_dominance: 0, user_data: 0, } } diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index d05b19a..28c53f1 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -555,6 +555,8 @@ impl NarrowPhase { manifold.data.solver_contacts.clear(); manifold.data.body_pair = BodyPair::new(co1.parent(), co2.parent()); manifold.data.solver_flags = solver_flags; + manifold.data.relative_dominance = + rb1.effective_dominance_group() - rb2.effective_dominance_group(); manifold.data.normal = world_pos1 * manifold.local_n1; // Generate solver contacts. |