From 7545e06cb15d6e851e5dee7d3761901e5d40f271 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Wed, 30 Dec 2020 12:03:25 +0100
Subject: Attempt to combine the position constraints initialization with the
 velocity constraints initialization.

---
 src/dynamics/solver/island_solver.rs | 2 ++
 1 file changed, 2 insertions(+)

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

diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
index 7ce142a..1b40634 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -29,6 +29,7 @@ impl IslandSolver {
     ) {
         if manifold_indices.len() != 0 || joint_indices.len() != 0 {
             counters.solver.velocity_assembly_time.resume();
+            self.position_solver.part.constraints.clear();
             self.velocity_solver.init_constraints(
                 island_id,
                 params,
@@ -37,6 +38,7 @@ impl IslandSolver {
                 &manifold_indices,
                 joints,
                 &joint_indices,
+                &mut self.position_solver.part.constraints,
             );
             counters.solver.velocity_assembly_time.pause();
 
-- 
cgit 


From 64507a68e179ebc652f177e727fac5ff1a82d931 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Thu, 31 Dec 2020 10:32:34 +0100
Subject: Refactor the constraints solver code.

---
 src/dynamics/solver/island_solver.rs | 45 ++++++++++++++++++------------------
 1 file changed, 23 insertions(+), 22 deletions(-)

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

diff --git a/src/dynamics/solver/island_solver.rs b/src/dynamics/solver/island_solver.rs
index 1b40634..46d6b75 100644
--- a/src/dynamics/solver/island_solver.rs
+++ b/src/dynamics/solver/island_solver.rs
@@ -1,9 +1,15 @@
 use super::{PositionSolver, VelocitySolver};
 use crate::counters::Counters;
+use crate::dynamics::solver::{
+    AnyJointPositionConstraint, AnyJointVelocityConstraint, AnyPositionConstraint,
+    AnyVelocityConstraint, SolverConstraints,
+};
 use crate::dynamics::{IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 
 pub struct IslandSolver {
+    contact_constraints: SolverConstraints<AnyVelocityConstraint, AnyPositionConstraint>,
+    joint_constraints: SolverConstraints<AnyJointVelocityConstraint, AnyJointPositionConstraint>,
     velocity_solver: VelocitySolver,
     position_solver: PositionSolver,
 }
@@ -11,6 +17,8 @@ pub struct IslandSolver {
 impl IslandSolver {
     pub fn new() -> Self {
         Self {
+            contact_constraints: SolverConstraints::new(),
+            joint_constraints: SolverConstraints::new(),
             velocity_solver: VelocitySolver::new(),
             position_solver: PositionSolver::new(),
         }
@@ -29,35 +37,23 @@ impl IslandSolver {
     ) {
         if manifold_indices.len() != 0 || joint_indices.len() != 0 {
             counters.solver.velocity_assembly_time.resume();
-            self.position_solver.part.constraints.clear();
-            self.velocity_solver.init_constraints(
-                island_id,
-                params,
-                bodies,
-                manifolds,
-                &manifold_indices,
-                joints,
-                &joint_indices,
-                &mut self.position_solver.part.constraints,
-            );
+            self.contact_constraints
+                .init(island_id, params, bodies, manifolds, manifold_indices);
+            self.joint_constraints
+                .init(island_id, params, bodies, joints, joint_indices);
             counters.solver.velocity_assembly_time.pause();
 
             counters.solver.velocity_resolution_time.resume();
-            self.velocity_solver
-                .solve_constraints(island_id, params, bodies, manifolds, joints);
-            counters.solver.velocity_resolution_time.pause();
-
-            counters.solver.position_assembly_time.resume();
-            self.position_solver.init_constraints(
+            self.velocity_solver.solve(
                 island_id,
                 params,
                 bodies,
                 manifolds,
-                &manifold_indices,
                 joints,
-                &joint_indices,
+                &mut self.contact_constraints.velocity_constraints,
+                &mut self.joint_constraints.velocity_constraints,
             );
-            counters.solver.position_assembly_time.pause();
+            counters.solver.velocity_resolution_time.pause();
         }
 
         counters.solver.velocity_update_time.resume();
@@ -67,8 +63,13 @@ impl IslandSolver {
 
         if manifold_indices.len() != 0 || joint_indices.len() != 0 {
             counters.solver.position_resolution_time.resume();
-            self.position_solver
-                .solve_constraints(island_id, params, bodies);
+            self.position_solver.solve(
+                island_id,
+                params,
+                bodies,
+                &self.contact_constraints.position_constraints,
+                &self.joint_constraints.position_constraints,
+            );
             counters.solver.position_resolution_time.pause();
         }
     }
-- 
cgit