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-rw-r--r--src/dynamics/solver/categorization.rs24
-rw-r--r--src/dynamics/solver/parallel_velocity_solver.rs4
-rw-r--r--src/dynamics/solver/position_constraint.rs115
-rw-r--r--src/dynamics/solver/position_constraint_wide.rs77
-rw-r--r--src/dynamics/solver/position_ground_constraint.rs68
-rw-r--r--src/dynamics/solver/position_ground_constraint_wide.rs66
-rw-r--r--src/dynamics/solver/position_solver.rs85
-rw-r--r--src/dynamics/solver/velocity_solver.rs4
-rw-r--r--src/geometry/mod.rs2
9 files changed, 36 insertions, 409 deletions
diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs
index 69fe7df..c920b69 100644
--- a/src/dynamics/solver/categorization.rs
+++ b/src/dynamics/solver/categorization.rs
@@ -1,27 +1,7 @@
use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet};
-use crate::geometry::{ContactManifold, ContactManifoldIndex, KinematicsCategory};
+use crate::geometry::{ContactManifold, ContactManifoldIndex};
-pub(crate) fn categorize_position_contacts(
- bodies: &RigidBodySet,
- manifolds: &[&mut ContactManifold],
- manifold_indices: &[ContactManifoldIndex],
- out_plane_point_ground: &mut Vec<ContactManifoldIndex>,
- out_plane_point: &mut Vec<ContactManifoldIndex>,
-) {
- for manifold_i in manifold_indices {
- let manifold = &manifolds[*manifold_i];
- let rb1 = &bodies[manifold.data.body_pair.body1];
- let rb2 = &bodies[manifold.data.body_pair.body2];
-
- if !rb1.is_dynamic() || !rb2.is_dynamic() {
- out_plane_point_ground.push(*manifold_i)
- } else {
- out_plane_point.push(*manifold_i)
- }
- }
-}
-
-pub(crate) fn categorize_velocity_contacts(
+pub(crate) fn categorize_contacts(
bodies: &RigidBodySet,
manifolds: &[&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
diff --git a/src/dynamics/solver/parallel_velocity_solver.rs b/src/dynamics/solver/parallel_velocity_solver.rs
index 451dd32..e467c62 100644
--- a/src/dynamics/solver/parallel_velocity_solver.rs
+++ b/src/dynamics/solver/parallel_velocity_solver.rs
@@ -1,6 +1,6 @@
use super::ParallelInteractionGroups;
use super::{AnyJointVelocityConstraint, AnyVelocityConstraint, DeltaVel, ThreadContext};
-use crate::dynamics::solver::categorization::{categorize_joints, categorize_velocity_contacts};
+use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{InteractionGroups, VelocityConstraint, VelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, JointGraphEdge, RigidBodySet};
use crate::geometry::ContactManifold;
@@ -165,7 +165,7 @@ macro_rules! impl_init_constraints_group {
impl_init_constraints_group!(
AnyVelocityConstraint,
&mut ContactManifold,
- categorize_velocity_contacts,
+ categorize_contacts,
group_manifolds,
VelocityConstraint::num_active_constraints,
AnyVelocityConstraint::Empty
diff --git a/src/dynamics/solver/position_constraint.rs b/src/dynamics/solver/position_constraint.rs
index 72dd534..1ef0660 100644
--- a/src/dynamics/solver/position_constraint.rs
+++ b/src/dynamics/solver/position_constraint.rs
@@ -2,7 +2,7 @@ use crate::dynamics::solver::PositionGroundConstraint;
#[cfg(feature = "simd-is-enabled")]
use crate::dynamics::solver::{WPositionConstraint, WPositionGroundConstraint};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
-use crate::geometry::{ContactManifold, KinematicsCategory};
+use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS,
};
@@ -10,17 +10,11 @@ use crate::utils::{WAngularInertia, WCross, WDot};
pub(crate) enum AnyPositionConstraint {
#[cfg(feature = "simd-is-enabled")]
- GroupedPointPointGround(WPositionGroundConstraint),
+ GroupedGround(WPositionGroundConstraint),
+ NonGroupedGround(PositionGroundConstraint),
#[cfg(feature = "simd-is-enabled")]
- GroupedPlanePointGround(WPositionGroundConstraint),
- NongroupedPointPointGround(PositionGroundConstraint),
- NongroupedPlanePointGround(PositionGroundConstraint),
- #[cfg(feature = "simd-is-enabled")]
- GroupedPointPoint(WPositionConstraint),
- #[cfg(feature = "simd-is-enabled")]
- GroupedPlanePoint(WPositionConstraint),
- NongroupedPointPoint(PositionConstraint),
- NongroupedPlanePoint(PositionConstraint),
+ GroupedNonGround(WPositionConstraint),
+ NonGroupedNonGround(PositionConstraint),
#[allow(dead_code)] // The Empty variant is only used with parallel code.
Empty,
}
@@ -29,29 +23,11 @@ impl AnyPositionConstraint {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
match self {
#[cfg(feature = "simd-is-enabled")]
- AnyPositionConstraint::GroupedPointPointGround(c) => {
- c.solve_point_point(params, positions)
- }
- #[cfg(feature = "simd-is-enabled")]
- AnyPositionConstraint::GroupedPlanePointGround(c) => {
- c.solve_plane_point(params, positions)
- }
- AnyPositionConstraint::NongroupedPointPointGround(c) => {
- c.solve_point_point(params, positions)
- }
- AnyPositionConstraint::NongroupedPlanePointGround(c) => {
- c.solve_plane_point(params, positions)
- }
- #[cfg(feature = "simd-is-enabled")]
- AnyPositionConstraint::GroupedPointPoint(c) => c.solve_point_point(params, positions),
+ AnyPositionConstraint::GroupedGround(c) => c.solve(params, positions),
+ AnyPositionConstraint::NonGroupedGround(c) => c.solve(params, positions),
#[cfg(feature = "simd-is-enabled")]
- AnyPositionConstraint::GroupedPlanePoint(c) => c.solve_plane_point(params, positions),
- AnyPositionConstraint::NongroupedPointPoint(c) => {
- c.solve_point_point(params, positions)
- }
- AnyPositionConstraint::NongroupedPlanePoint(c) => {
- c.solve_plane_point(params, positions)
- }
+ AnyPositionConstraint::GroupedNonGround(c) => c.solve(params, positions),
+ AnyPositionConstraint::NonGroupedNonGround(c) => c.solve(params, positions),
AnyPositionConstraint::Empty => unreachable!(),
}
}
@@ -124,80 +100,15 @@ impl PositionConstraint {
};
if push {
- if manifold.kinematics.category == KinematicsCategory::PointPoint {
- out_constraints.push(AnyPositionConstraint::NongroupedPointPoint(constraint));
- } else {
- out_constraints.push(AnyPositionConstraint::NongroupedPlanePoint(constraint));
- }
+ out_constraints.push(AnyPositionConstraint::NonGroupedNonGround(constraint));
} else {
- if manifold.kinematics.category == KinematicsCategory::PointPoint {
- out_constraints[manifold.data.constraint_index + l] =
- AnyPositionConstraint::NongroupedPointPoint(constraint);
- } else {
- out_constraints[manifold.data.constraint_index + l] =
- AnyPositionConstraint::NongroupedPlanePoint(constraint);
- }
+ out_constraints[manifold.data.constraint_index + l] =
+ AnyPositionConstraint::NonGroupedNonGround(constraint);
}
}
}
- pub fn solve_point_point(
- &self,
- params: &IntegrationParameters,
- positions: &mut [Isometry<f32>],
- ) {
- // FIXME: can we avoid most of the multiplications by pos1/pos2?
- // Compute jacobians.
- let mut pos1 = positions[self.rb1];
- let mut pos2 = positions[self.rb2];
- let allowed_err = params.allowed_linear_error;
-
- for k in 0..self.num_contacts as usize {
- let target_dist = -self.dists[k] - allowed_err;
- let p1 = pos1 * self.local_p1[k];
- let p2 = pos2 * self.local_p2[k];
- let dpos = p2 - p1;
-
- let sqdist = dpos.norm_squared();
-
- // NOTE: only works for the point-point case.
- if sqdist < target_dist * target_dist {
- let dist = sqdist.sqrt();
- let n = dpos / dist;
- let err = ((dist - target_dist) * self.erp).max(-self.max_linear_correction);
- let dp1 = p1.coords - pos1.translation.vector;
- let dp2 = p2.coords - pos2.translation.vector;
-
- let gcross1 = dp1.gcross(n);
- let gcross2 = -dp2.gcross(n);
- let ii_gcross1 = self.ii1.transform_vector(gcross1);
- let ii_gcross2 = self.ii2.transform_vector(gcross2);
-
- // Compute impulse.
- let inv_r =
- self.im1 + self.im2 + gcross1.gdot(ii_gcross1) + gcross2.gdot(ii_gcross2);
- let impulse = err / inv_r;
-
- // Apply impulse.
- let tra1 = Translation::from(n * (impulse * self.im1));
- let tra2 = Translation::from(n * (-impulse * self.im2));
- let rot1 = Rotation::new(ii_gcross1 * impulse);
- let rot2 = Rotation::new(ii_gcross2 * impulse);
-
- pos1 = Isometry::from_parts(tra1 * pos1.translation, rot1 * pos1.rotation);
- pos2 = Isometry::from_parts(tra2 * pos2.translation, rot2 * pos2.rotation);
- }
- }
-
- positions[self.rb1] = pos1;
- positions[self.rb2] = pos2;
- }
-
- pub fn solve_plane_point(
- &self,
- params: &IntegrationParameters,
- positions: &mut [Isometry<f32>],
- ) {
+ pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos1 = positions[self.rb1];
diff --git a/src/dynamics/solver/position_constraint_wide.rs b/src/dynamics/solver/position_constraint_wide.rs
index a00886d..3a3abb0 100644
--- a/src/dynamics/solver/position_constraint_wide.rs
+++ b/src/dynamics/solver/position_constraint_wide.rs
@@ -1,6 +1,6 @@
use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
-use crate::geometry::{ContactManifold, KinematicsCategory};
+use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, SimdReal, Translation, Vector, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
@@ -86,82 +86,15 @@ impl WPositionConstraint {
}
if push {
- if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
- out_constraints.push(AnyPositionConstraint::GroupedPointPoint(constraint));
- } else {
- out_constraints.push(AnyPositionConstraint::GroupedPlanePoint(constraint));
- }
+ out_constraints.push(AnyPositionConstraint::GroupedNonGround(constraint));
} else {
- if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
- out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
- AnyPositionConstraint::GroupedPointPoint(constraint);
- } else {
- out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
- AnyPositionConstraint::GroupedPlanePoint(constraint);
- }
+ out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
+ AnyPositionConstraint::GroupedNonGround(constraint);
}
}
}
- pub fn solve_point_point(
- &self,
- params: &IntegrationParameters,
- positions: &mut [Isometry<f32>],
- ) {
- // FIXME: can we avoid most of the multiplications by pos1/pos2?
- // Compute jacobians.
- let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
- let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
- let allowed_err = SimdReal::splat(params.allowed_linear_error);
-
- for k in 0..self.num_contacts as usize {
- let target_dist = -self.dists[k] - allowed_err;
- let p1 = pos1 * self.local_p1[k];
- let p2 = pos2 * self.local_p2[k];
-
- let dpos = p2 - p1;
- let sqdist = dpos.norm_squared();
-
- if sqdist.simd_lt(target_dist * target_dist).any() {
- let dist = sqdist.simd_sqrt();
- let n = dpos / dist;
- let err = ((dist - target_dist) * self.erp)
- .simd_clamp(-self.max_linear_correction, SimdReal::zero());
- let dp1 = p1.coords - pos1.translation.vector;
- let dp2 = p2.coords - pos2.translation.vector;
-
- let gcross1 = dp1.gcross(n);
- let gcross2 = -dp2.gcross(n);
- let ii_gcross1 = self.ii1.transform_vector(gcross1);
- let ii_gcross2 = self.ii2.transform_vector(gcross2);
-
- // Compute impulse.
- let inv_r =
- self.im1 + self.im2 + gcross1.gdot(ii_gcross1) + gcross2.gdot(ii_gcross2);
- let impulse = err / inv_r;
-
- // Apply impulse.
- pos1.translation = Translation::from(n * (impulse * self.im1)) * pos1.translation;
- pos1.rotation = Rotation::new(ii_gcross1 * impulse) * pos1.rotation;
- pos2.translation = Translation::from(n * (-impulse * self.im2)) * pos2.translation;
- pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
- }
- }
-
- for ii in 0..SIMD_WIDTH {
- positions[self.rb1[ii]] = pos1.extract(ii);
- }
-
- for ii in 0..SIMD_WIDTH {
- positions[self.rb2[ii]] = pos2.extract(ii);
- }
- }
-
- pub fn solve_plane_point(
- &self,
- params: &IntegrationParameters,
- positions: &mut [Isometry<f32>],
- ) {
+ pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos1 = Isometry::from(array![|ii| positions[self.rb1[ii]]; SIMD_WIDTH]);
diff --git a/src/dynamics/solver/position_ground_constraint.rs b/src/dynamics/solver/position_ground_constraint.rs
index ada41e8..80175fe 100644
--- a/src/dynamics/solver/position_ground_constraint.rs
+++ b/src/dynamics/solver/position_ground_constraint.rs
@@ -1,6 +1,6 @@
use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
-use crate::geometry::{ContactManifold, KinematicsCategory};
+use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS,
};
@@ -68,73 +68,15 @@ impl PositionGroundConstraint {
};
if push {
- if manifold.kinematics.category == KinematicsCategory::PointPoint {
- out_constraints.push(AnyPositionConstraint::NongroupedPointPointGround(
- constraint,
- ));
- } else {
- out_constraints.push(AnyPositionConstraint::NongroupedPlanePointGround(
- constraint,
- ));
- }
+ out_constraints.push(AnyPositionConstraint::NonGroupedGround(constraint));
} else {
- if manifold.kinematics.category == KinematicsCategory::PointPoint {
- out_constraints[manifold.data.constraint_index + l] =
- AnyPositionConstraint::NongroupedPointPointGround(constraint);
- } else {
- out_constraints[manifold.data.constraint_index + l] =
- AnyPositionConstraint::NongroupedPlanePointGround(constraint);
- }
+ out_constraints[manifold.data.constraint_index + l] =
+ AnyPositionConstraint::NonGroupedGround(constraint);
}
}
}
- pub fn solve_point_point(
- &self,
- params: &IntegrationParameters,
- positions: &mut [Isometry<f32>],
- ) {
- // FIXME: can we avoid most of the multiplications by pos1/pos2?
- // Compute jacobians.
- let mut pos2 = positions[self.rb2];
- let allowed_err = params.allowed_linear_error;
- for k in 0..self.num_contacts as usize {
- let target_dist = -self.dists[k] - allowed_err;
- let p1 = self.p1[k];
- let p2 = pos2 * self.local_p2[k];
- let dpos = p2 - p1;
-
- let sqdist = dpos.norm_squared();
-
- // NOTE: only works for the point-point case.
- if sqdist < target_dist * target_dist {
- let dist = sqdist.sqrt();
- let n = dpos / dist;
- let err = ((dist - target_dist) * self.erp).max(-self.max_linear_correction);
- let dp2 = p2.coords - pos2.translation.vector;
-
- let gcross2 = -dp2.gcross(n);
- let ii_gcross2 = self.ii2.transform_vector(gcross2);
-
- // Compute impulse.
- let inv_r = self.im2 + gcross2.gdot(ii_gcross2);
- let impulse = err / inv_r;
-
- // Apply impulse.
- let tra2 = Translation::from(n * (-impulse * self.im2));
- let rot2 = Rotation::new(ii_gcross2 * impulse);
- pos2 = Isometry::from_parts(tra2 * pos2.translation, rot2 * pos2.rotation);
- }
- }
-
- positions[self.rb2] = pos2;
- }
-
- pub fn solve_plane_point(
- &self,
- params: &IntegrationParameters,
- positions: &mut [Isometry<f32>],
- ) {
+ pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos2 = positions[self.rb2];
diff --git a/src/dynamics/solver/position_ground_constraint_wide.rs b/src/dynamics/solver/position_ground_constraint_wide.rs
index 40d5a68..76c78d8 100644
--- a/src/dynamics/solver/position_ground_constraint_wide.rs
+++ b/src/dynamics/solver/position_ground_constraint_wide.rs
@@ -1,6 +1,6 @@
use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
-use crate::geometry::{ContactManifold, KinematicsCategory};
+use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, SimdReal, Translation, Vector, MAX_MANIFOLD_POINTS,
SIMD_WIDTH,
@@ -84,71 +84,15 @@ impl WPositionGroundConstraint {
}
if push {
- if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
- out_constraints
- .push(AnyPositionConstraint::GroupedPointPointGround(constraint));
- } else {
- out_constraints
- .push(AnyPositionConstraint::GroupedPlanePointGround(constraint));
- }
+ out_constraints.push(AnyPositionConstraint::GroupedGround(constraint));
} else {
- if manifolds[0].kinematics.category == KinematicsCategory::PointPoint {
- out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
- AnyPositionConstraint::GroupedPointPointGround(constraint);
- } else {
- out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
- AnyPositionConstraint::GroupedPlanePointGround(constraint);
- }
+ out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] =
+ AnyPositionConstraint::GroupedGround(constraint);
}
}
}
- pub fn solve_point_point(
- &self,
- params: &IntegrationParameters,
- positions: &mut [Isometry<f32>],
- ) {
- // FIXME: can we avoid most of the multiplications by pos1/pos2?
- // Compute jacobians.
- let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
- let allowed_err = SimdReal::splat(params.allowed_linear_error);
-
- for k in 0..self.num_contacts as usize {
- let target_dist = -self.dists[k] - allowed_err;
- let p1 = self.p1[k];
- let p2 = pos2 * self.local_p2[k];
-
- let dpos = p2 - p1;
- let sqdist = dpos.norm_squared();
-
- if sqdist.simd_lt(target_dist * target_dist).any() {
- let dist = sqdist.simd_sqrt();
- let n = dpos / dist;
- let err = ((dist - target_dist) * self.erp)
- .simd_clamp(-self.max_linear_correction, SimdReal::zero());
- let dp2 = p2.coords - pos2.translation.vector;
- let gcross2 = -dp2.gcross(n);
- let ii_gcross2 = self.ii2.transform_vector(gcross2);
-
- // Compute impulse.
- let inv_r = self.im2 + gcross2.gdot(ii_gcross2);
- let impulse = err / inv_r;
- // Apply impulse.
- pos2.translation = Translation::from(n * (-impulse * self.im2)) * pos2.translation;
- pos2.rotation = Rotation::new(ii_gcross2 * impulse) * pos2.rotation;
- }
- }
-
- for ii in 0..SIMD_WIDTH {
- positions[self.rb2[ii]] = pos2.extract(ii);
- }
- }
-
- pub fn solve_plane_point(
- &self,
- params: &IntegrationParameters,
- positions: &mut [Isometry<f32>],
- ) {
+ pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos2 = Isometry::from(array![|ii| positions[self.rb2[ii]]; SIMD_WIDTH]);
diff --git a/src/dynamics/solver/position_solver.rs b/src/dynamics/solver/position_solver.rs
index d610f3a..a0223a0 100644
--- a/src/dynamics/solver/position_solver.rs
+++ b/src/dynamics/solver/position_solver.rs
@@ -3,7 +3,7 @@ use super::{
};
#[cfg(feature = "simd-is-enabled")]
use super::{WPositionConstraint, WPositionGroundConstraint};
-use crate::dynamics::solver::categorization::{categorize_joints, categorize_position_contacts};
+use crate::dynamics::solver::categorization::categorize_joints;
use crate::dynamics::{
solver::AnyPositionConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
@@ -77,8 +77,6 @@ impl PositionSolver {
joints: &[JointGraphEdge],
joint_constraint_indices: &[JointIndex],
) {
- // self.part
- // .init_constraints(island_id, params, bodies, manifolds, manifold_indices);
self.joint_part.init_constraints(
island_id,
params,
@@ -117,87 +115,6 @@ impl PositionSolver {
}
}
-impl PositionSolverPart {
- pub fn init_constraints(
- &mut self,
- island_id: usize,
- params: &IntegrationParameters,
- bodies: &RigidBodySet,
- manifolds_all: &[&mut ContactManifold],
- manifold_indices: &[ContactManifoldIndex],
- ) {
- self.plane_point_ground_manifolds.clear();
- self.plane_point_manifolds.clear();
- categorize_position_contacts(
- bodies,
- manifolds_all,
- manifold_indices,
- &mut self.plane_point_ground_manifolds,
- &mut self.plane_point_manifolds,
- );
-
- self.plane_point_groups.clear_groups();
- self.plane_point_groups.group_manifolds(
- island_id,
- bodies,
- manifolds_all,
- &self.plane_point_manifolds,
- );
-
- self.plane_point_ground_groups.clear_groups();
- self.plane_point_ground_groups.group_manifolds(
- island_id,
- bodies,
- manifolds_all,
- &self.plane_point_ground_manifolds,
- );
-
- self.constraints.clear();
-
- /*
- * Init non-ground contact constraints.
- */
- #[cfg(feature = "simd-is-enabled")]
- {
- compute_grouped_constraints(
- params,
- bodies,
- manifolds_all,
- &self.plane_point_groups.grouped_interactions,
- &mut self.constraints,
- );
- }
- compute_nongrouped_constraints(
- params,
- bodies,
- manifolds_all,
- &self.plane_point_groups.nongrouped_interactions,
- &mut self.constraints,
- );
-
- /*
- * Init ground contact constraints.
- */
- #[cfg(feature = "simd-is-enabled")]
- {
- compute_grouped_ground_constraints(
- params,
- bodies,
- manifolds_all,
- &self.plane_point_ground_groups.grouped_interactions,
- &mut self.constraints,
- );
- }
- compute_nongrouped_ground_constraints(
- params,
- bodies,
- manifolds_all,
- &self.plane_point_ground_groups.nongrouped_interactions,
- &mut self.constraints,
- );
- }
-}
-
impl PositionSolverJointPart {
pub fn init_constraints(
&mut self,
diff --git a/src/dynamics/solver/velocity_solver.rs b/src/dynamics/solver/velocity_solver.rs
index f091fc2..5f68995 100644
--- a/src/dynamics/solver/velocity_solver.rs
+++ b/src/dynamics/solver/velocity_solver.rs
@@ -3,7 +3,7 @@ use super::{
};
#[cfg(feature = "simd-is-enabled")]
use super::{WVelocityConstraint, WVelocityGroundConstraint};
-use crate::dynamics::solver::categorization::{categorize_joints, categorize_velocity_contacts};
+use crate::dynamics::solver::categorization::{categorize_contacts, categorize_joints};
use crate::dynamics::solver::{
AnyPositionConstraint, PositionConstraint, PositionGroundConstraint, WPositionConstraint,
WPositionGroundConstraint,
@@ -144,7 +144,7 @@ impl VelocitySolverPart<AnyVelocityConstraint> {
) {
self.not_ground_interactions.clear();
self.ground_interactions.clear();
- categorize_velocity_contacts(
+ categorize_contacts(
bodies,
manifolds,
manifold_indices,
diff --git a/src/geometry/mod.rs b/src/geometry/mod.rs
index cfc3086..23e34cc 100644
--- a/src/geometry/mod.rs
+++ b/src/geometry/mod.rs
@@ -11,7 +11,7 @@ pub use self::interaction_graph::{
pub use self::narrow_phase::NarrowPhase;
pub use self::pair_filter::{ContactPairFilter, PairFilterContext, ProximityPairFilter};
-pub use cdl::query::{KinematicsCategory, TrackedContact};
+pub use cdl::query::TrackedContact;
pub type Contact = cdl::query::TrackedContact<ContactData>;
pub type ContactManifold = cdl::query::ContactManifold<ContactManifoldData, ContactData>;
generated by cgit (git 2.34.1) at 2026-02-03 18:00:24 +0000