diff options
| -rw-r--r-- | src/dynamics/solver/parallel_island_solver.rs | 20 | ||||
| -rw-r--r-- | src/dynamics/solver/parallel_velocity_solver.rs | 8 |
2 files changed, 8 insertions, 20 deletions
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs index e12e7af..d173ed4 100644 --- a/src/dynamics/solver/parallel_island_solver.rs +++ b/src/dynamics/solver/parallel_island_solver.rs @@ -66,10 +66,8 @@ pub(crate) struct ThreadContext { pub num_initialized_constraints: AtomicUsize, pub joint_constraint_initialization_index: AtomicUsize, pub num_initialized_joint_constraints: AtomicUsize, - pub warmstart_contact_index: AtomicUsize, - pub num_warmstarted_contacts: AtomicUsize, - pub warmstart_joint_index: AtomicUsize, - pub num_warmstarted_joints: AtomicUsize, + pub warmstart_constraint_index: AtomicUsize, + pub num_warmstarted_constraints: AtomicUsize, pub solve_interaction_index: AtomicUsize, pub num_solved_interactions: AtomicUsize, pub impulse_writeback_index: AtomicUsize, @@ -79,10 +77,6 @@ pub(crate) struct ThreadContext { pub num_force_integrated_bodies: AtomicUsize, pub num_integrated_bodies: AtomicUsize, // Position solver. - pub position_constraint_initialization_index: AtomicUsize, - pub num_initialized_position_constraints: AtomicUsize, - pub position_joint_constraint_initialization_index: AtomicUsize, - pub num_initialized_position_joint_constraints: AtomicUsize, pub solve_position_interaction_index: AtomicUsize, pub num_solved_position_interactions: AtomicUsize, pub position_writeback_index: AtomicUsize, @@ -96,10 +90,8 @@ impl ThreadContext { num_initialized_constraints: AtomicUsize::new(0), joint_constraint_initialization_index: AtomicUsize::new(0), num_initialized_joint_constraints: AtomicUsize::new(0), - num_warmstarted_contacts: AtomicUsize::new(0), - warmstart_contact_index: AtomicUsize::new(0), - num_warmstarted_joints: AtomicUsize::new(0), - warmstart_joint_index: AtomicUsize::new(0), + num_warmstarted_constraints: AtomicUsize::new(0), + warmstart_constraint_index: AtomicUsize::new(0), solve_interaction_index: AtomicUsize::new(0), num_solved_interactions: AtomicUsize::new(0), impulse_writeback_index: AtomicUsize::new(0), @@ -108,10 +100,6 @@ impl ThreadContext { num_force_integrated_bodies: AtomicUsize::new(0), body_integration_index: AtomicUsize::new(0), num_integrated_bodies: AtomicUsize::new(0), - position_constraint_initialization_index: AtomicUsize::new(0), - num_initialized_position_constraints: AtomicUsize::new(0), - position_joint_constraint_initialization_index: AtomicUsize::new(0), - num_initialized_position_joint_constraints: AtomicUsize::new(0), solve_position_interaction_index: AtomicUsize::new(0), num_solved_position_interactions: AtomicUsize::new(0), position_writeback_index: AtomicUsize::new(0), diff --git a/src/dynamics/solver/parallel_velocity_solver.rs b/src/dynamics/solver/parallel_velocity_solver.rs index 824442c..54792f8 100644 --- a/src/dynamics/solver/parallel_velocity_solver.rs +++ b/src/dynamics/solver/parallel_velocity_solver.rs @@ -41,7 +41,7 @@ impl ParallelVelocitySolver { // before starting the next one. let mut target_num_desc = 0; let mut start_index = thread - .warmstart_contact_index + .warmstart_constraint_index .fetch_add(thread.batch_size, Ordering::SeqCst); let mut batch_size = thread.batch_size; let mut shift = 0; @@ -69,12 +69,12 @@ impl ParallelVelocitySolver { batch_size -= num_solved; thread - .num_warmstarted_contacts + .num_warmstarted_constraints .fetch_add(num_solved, Ordering::SeqCst); if batch_size == 0 { start_index = thread - .warmstart_contact_index + .warmstart_constraint_index .fetch_add(thread.batch_size, Ordering::SeqCst); start_index -= shift; batch_size = thread.batch_size; @@ -83,7 +83,7 @@ impl ParallelVelocitySolver { } } - ThreadContext::lock_until_ge(&thread.num_warmstarted_contacts, target_num_desc); + ThreadContext::lock_until_ge(&thread.num_warmstarted_constraints, target_num_desc); } } ); |