From 754a48b7ff6d8c58b1ee08651e60112900b60455 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Tue, 25 Aug 2020 22:10:25 +0200
Subject: First public release of Rapier.

---
 src/dynamics/solver/categorization.rs | 70 +++++++++++++++++++++++++++++++++++
 1 file changed, 70 insertions(+)
 create mode 100644 src/dynamics/solver/categorization.rs

(limited to 'src/dynamics/solver/categorization.rs')

diff --git a/src/dynamics/solver/categorization.rs b/src/dynamics/solver/categorization.rs
new file mode 100644
index 0000000..9ddf791
--- /dev/null
+++ b/src/dynamics/solver/categorization.rs
@@ -0,0 +1,70 @@
+use crate::dynamics::{JointGraphEdge, JointIndex, RigidBodySet};
+use crate::geometry::{ContactManifold, ContactManifoldIndex, KinematicsCategory};
+
+pub(crate) fn categorize_position_contacts(
+    bodies: &RigidBodySet,
+    manifolds: &[&mut ContactManifold],
+    manifold_indices: &[ContactManifoldIndex],
+    out_point_point_ground: &mut Vec<ContactManifoldIndex>,
+    out_plane_point_ground: &mut Vec<ContactManifoldIndex>,
+    out_point_point: &mut Vec<ContactManifoldIndex>,
+    out_plane_point: &mut Vec<ContactManifoldIndex>,
+) {
+    for manifold_i in manifold_indices {
+        let manifold = &manifolds[*manifold_i];
+        let rb1 = &bodies[manifold.body_pair.body1];
+        let rb2 = &bodies[manifold.body_pair.body2];
+
+        if !rb1.is_dynamic() || !rb2.is_dynamic() {
+            match manifold.kinematics.category {
+                KinematicsCategory::PointPoint => out_point_point_ground.push(*manifold_i),
+                KinematicsCategory::PlanePoint => out_plane_point_ground.push(*manifold_i),
+            }
+        } else {
+            match manifold.kinematics.category {
+                KinematicsCategory::PointPoint => out_point_point.push(*manifold_i),
+                KinematicsCategory::PlanePoint => out_plane_point.push(*manifold_i),
+            }
+        }
+    }
+}
+
+pub(crate) fn categorize_velocity_contacts(
+    bodies: &RigidBodySet,
+    manifolds: &[&mut ContactManifold],
+    manifold_indices: &[ContactManifoldIndex],
+    out_ground: &mut Vec<ContactManifoldIndex>,
+    out_not_ground: &mut Vec<ContactManifoldIndex>,
+) {
+    for manifold_i in manifold_indices {
+        let manifold = &manifolds[*manifold_i];
+        let rb1 = &bodies[manifold.body_pair.body1];
+        let rb2 = &bodies[manifold.body_pair.body2];
+
+        if !rb1.is_dynamic() || !rb2.is_dynamic() {
+            out_ground.push(*manifold_i)
+        } else {
+            out_not_ground.push(*manifold_i)
+        }
+    }
+}
+
+pub(crate) fn categorize_joints(
+    bodies: &RigidBodySet,
+    joints: &[JointGraphEdge],
+    joint_indices: &[JointIndex],
+    ground_joints: &mut Vec<JointIndex>,
+    nonground_joints: &mut Vec<JointIndex>,
+) {
+    for joint_i in joint_indices {
+        let joint = &joints[*joint_i].weight;
+        let rb1 = &bodies[joint.body1];
+        let rb2 = &bodies[joint.body2];
+
+        if !rb1.is_dynamic() || !rb2.is_dynamic() {
+            ground_joints.push(*joint_i);
+        } else {
+            nonground_joints.push(*joint_i);
+        }
+    }
+}
-- 
cgit