diff options
Diffstat (limited to 'src/dynamics/solver')
7 files changed, 19 insertions, 19 deletions
diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs index 1e65341..0c4c323 100644 --- a/src/dynamics/solver/island_solver.rs +++ b/src/dynamics/solver/island_solver.rs @@ -113,7 +113,7 @@ impl IslandSolver { let mut new_poss = *poss; let new_vels = vels.apply_damping(params.dt, damping); new_poss.next_position = - vels.integrate(params.dt, &poss.position, &mprops.mass_properties.local_com); + vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com); bodies.set_internal(handle.0, new_vels); bodies.set_internal(handle.0, new_poss); @@ -140,7 +140,7 @@ impl IslandSolver { .integrate(params.dt, vels, mprops) .apply_damping(params.dt, &damping); new_poss.next_position = - vels.integrate(params.dt, &poss.position, &mprops.mass_properties.local_com); + vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com); bodies.set_internal(handle.0, new_vels); bodies.set_internal(handle.0, new_poss); diff --git a/src/dynamics/solver/joint_constraint/ball_position_constraint.rs b/src/dynamics/solver/joint_constraint/ball_position_constraint.rs index 159cc77..0227960 100644 --- a/src/dynamics/solver/joint_constraint/ball_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/ball_position_constraint.rs @@ -34,8 +34,8 @@ impl BallPositionConstraint { let (mprops2, ids2) = rb2; Self { - local_com1: mprops1.mass_properties.local_com, - local_com2: mprops2.mass_properties.local_com, + local_com1: mprops1.local_mprops.local_com, + local_com2: mprops2.local_mprops.local_com, im1: mprops1.effective_inv_mass, im2: mprops2.effective_inv_mass, ii1: mprops1.effective_world_inv_inertia_sqrt.squared(), @@ -131,7 +131,7 @@ impl BallPositionGroundConstraint { ii2: mprops2.effective_world_inv_inertia_sqrt.squared(), local_anchor2: cparams.local_anchor1, position2: ids2.active_set_offset, - local_com2: mprops2.mass_properties.local_com, + local_com2: mprops2.local_mprops.local_com, } } else { Self { @@ -140,7 +140,7 @@ impl BallPositionGroundConstraint { ii2: mprops2.effective_world_inv_inertia_sqrt.squared(), local_anchor2: cparams.local_anchor2, position2: ids2.active_set_offset, - local_com2: mprops2.mass_properties.local_com, + local_com2: mprops2.local_mprops.local_com, } } } diff --git a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs index 6b00639..ea462ed 100644 --- a/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs +++ b/src/dynamics/solver/joint_constraint/ball_position_constraint_wide.rs @@ -40,8 +40,8 @@ impl WBallPositionConstraint { let (mprops1, ids1) = rbs1; let (mprops2, ids2) = rbs2; - let local_com1 = Point::from(gather![|ii| mprops1[ii].mass_properties.local_com]); - let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]); + let local_com1 = Point::from(gather![|ii| mprops1[ii].local_mprops.local_com]); + let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]); let im1 = SimdReal::from(gather![|ii| mprops1[ii].effective_inv_mass]); let im2 = SimdReal::from(gather![|ii| mprops2[ii].effective_inv_mass]); let ii1 = AngularInertia::<SimdReal>::from(gather![ @@ -169,7 +169,7 @@ impl WBallPositionGroundConstraint { cparams[ii].local_anchor2 }]); let position2 = gather![|ii| ids2[ii].active_set_offset]; - let local_com2 = Point::from(gather![|ii| mprops2[ii].mass_properties.local_com]); + let local_com2 = Point::from(gather![|ii| mprops2[ii].local_mprops.local_com]); Self { anchor1, diff --git a/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs b/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs index f8945c3..3ab13f7 100644 --- a/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/fixed_position_constraint.rs @@ -46,8 +46,8 @@ impl FixedPositionConstraint { im2, ii1, ii2, - local_com1: mprops1.mass_properties.local_com, - local_com2: mprops2.mass_properties.local_com, + local_com1: mprops1.local_mprops.local_com, + local_com2: mprops2.local_mprops.local_com, lin_inv_lhs, ang_inv_lhs, } @@ -125,7 +125,7 @@ impl FixedPositionGroundConstraint { position2: ids2.active_set_offset, im2: mprops2.effective_inv_mass, ii2: mprops2.effective_world_inv_inertia_sqrt.squared(), - local_com2: mprops2.mass_properties.local_com, + local_com2: mprops2.local_mprops.local_com, impulse: 0.0, } } diff --git a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs index 76901b1..a7b5ea0 100644 --- a/src/dynamics/solver/joint_constraint/generic_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/generic_position_constraint.rs @@ -41,8 +41,8 @@ impl GenericPositionConstraint { im2, ii1, ii2, - local_com1: rb1.mass_properties.local_com, - local_com2: rb2.mass_properties.local_com, + local_com1: rb1.local_mprops.local_com, + local_com2: rb2.local_mprops.local_com, joint: *joint, } } @@ -215,7 +215,7 @@ impl GenericPositionGroundConstraint { position2: rb2.active_set_offset, im2: rb2.effective_inv_mass, ii2: rb2.effective_world_inv_inertia_sqrt.squared(), - local_com2: rb2.mass_properties.local_com, + local_com2: rb2.local_mprops.local_com, joint: *joint, } } diff --git a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs index 1b3e23a..731d0e2 100644 --- a/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/revolute_position_constraint.rs @@ -51,8 +51,8 @@ impl RevolutePositionConstraint { ii1, ii2, ang_inv_lhs, - local_com1: mprops1.mass_properties.local_com, - local_com2: mprops2.mass_properties.local_com, + local_com1: mprops1.local_mprops.local_com, + local_com2: mprops2.local_mprops.local_com, local_anchor1: cparams.local_anchor1, local_anchor2: cparams.local_anchor2, local_axis1: cparams.local_axis1, @@ -183,7 +183,7 @@ impl RevolutePositionGroundConstraint { local_anchor2, im2: mprops2.effective_inv_mass, ii2: mprops2.effective_world_inv_inertia_sqrt.squared(), - local_com2: mprops2.mass_properties.local_com, + local_com2: mprops2.local_mprops.local_com, axis1, local_axis2, position2: ids2.active_set_offset, diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs index 9d565c1..e12e7af 100644 --- a/src/dynamics/solver/parallel_island_solver.rs +++ b/src/dynamics/solver/parallel_island_solver.rs @@ -392,7 +392,7 @@ impl ParallelIslandSolver { let new_rb_vels = new_rb_vels.apply_damping(params.dt, rb_damping); new_rb_pos.next_position = - new_rb_vels.integrate(params.dt, &rb_pos.position, &rb_mprops.mass_properties.local_com); + new_rb_vels.integrate(params.dt, &rb_pos.position, &rb_mprops.local_mprops.local_com); bodies.set_internal(handle.0, new_rb_vels); bodies.set_internal(handle.0, new_rb_pos); |