From d2ee6420538d7ee524f2096995d4f44fcfef4551 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Tue, 30 Mar 2021 17:08:51 +0200
Subject: CCD: take angular motion and penetration depth into account in
 various thresholds.

---
 src/dynamics/solver/interaction_groups.rs | 7 +++++++
 1 file changed, 7 insertions(+)

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

diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs
index 0f01798..ff4ceed 100644
--- a/src/dynamics/solver/interaction_groups.rs
+++ b/src/dynamics/solver/interaction_groups.rs
@@ -157,6 +157,13 @@ impl InteractionGroups {
         }
     }
 
+    pub fn clear(&mut self) {
+        self.buckets.clear();
+        self.body_masks.clear();
+        self.grouped_interactions.clear();
+        self.nongrouped_interactions.clear();
+    }
+
     // FIXME: there is a lot of duplicated code with group_manifolds here.
     // But we don't refactor just now because we may end up with distinct
     // grouping strategies in the future.
-- 
cgit 


From e9f6384081e7f3722976b9fefda6926f5206e0a2 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 31 Mar 2021 10:53:44 +0200
Subject: Fix the parallel solver to work properly with CCD.

---
 src/dynamics/solver/interaction_groups.rs | 9 ++++++---
 1 file changed, 6 insertions(+), 3 deletions(-)

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

diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs
index ff4ceed..e6be339 100644
--- a/src/dynamics/solver/interaction_groups.rs
+++ b/src/dynamics/solver/interaction_groups.rs
@@ -158,9 +158,12 @@ impl InteractionGroups {
     }
 
     pub fn clear(&mut self) {
-        self.buckets.clear();
-        self.body_masks.clear();
-        self.grouped_interactions.clear();
+        #[cfg(feature = "simd-is-enabled")]
+        {
+            self.buckets.clear();
+            self.body_masks.clear();
+            self.grouped_interactions.clear();
+        }
         self.nongrouped_interactions.clear();
     }
 
-- 
cgit 


From 4e84c122df9838e530c7828f8b7b23477e04dc68 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 31 Mar 2021 16:55:18 +0200
Subject: Fix more warnings.

---
 src/dynamics/solver/interaction_groups.rs | 1 +
 1 file changed, 1 insertion(+)

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

diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs
index e6be339..6b8de5a 100644
--- a/src/dynamics/solver/interaction_groups.rs
+++ b/src/dynamics/solver/interaction_groups.rs
@@ -157,6 +157,7 @@ impl InteractionGroups {
         }
     }
 
+    #[cfg(not(feature = "parallel"))]
     pub fn clear(&mut self) {
         #[cfg(feature = "simd-is-enabled")]
         {
-- 
cgit