From ad5c10672e36f47fbdb0667bccd79c59ff3a97cc Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 22 Feb 2021 17:51:40 +0100 Subject: Use contact ids instead of contact reordering in order to identify the impulse writeback location. --- src/geometry/narrow_phase.rs | 20 +++++++------------- 1 file changed, 7 insertions(+), 13 deletions(-) (limited to 'src/geometry/narrow_phase.rs') diff --git a/src/geometry/narrow_phase.rs b/src/geometry/narrow_phase.rs index 640ce12..9513fef 100644 --- a/src/geometry/narrow_phase.rs +++ b/src/geometry/narrow_phase.rs @@ -546,15 +546,17 @@ impl NarrowPhase { manifold.data.solver_flags = solver_flags; manifold.data.normal = world_pos1 * manifold.local_n1; - // Sort contacts to keep only these with distances bellow - // the prediction, and generate solver contacts. - let mut first_inactive_index = manifold.points.len(); + // Generate solver contacts. + for (contact_id, contact) in manifold.points.iter().enumerate() { + assert!( + contact_id <= u8::MAX as usize, + "A contact manifold cannot contain more than 255 contacts currently." + ); - while manifold.data.num_active_contacts() != first_inactive_index { - let contact = &manifold.points[manifold.data.num_active_contacts()]; if contact.dist < prediction_distance { // Generate the solver contact. let solver_contact = SolverContact { + contact_id: contact_id as u8, point: world_pos1 * contact.local_p1 + manifold.data.normal * contact.dist / 2.0, dist: contact.dist, @@ -570,14 +572,6 @@ impl NarrowPhase { has_any_active_contact = true; continue; } - - // If we reach this code, then the contact must be ignored by the constraints solver. - // Swap with the last contact. - manifold.points.swap( - manifold.data.num_active_contacts(), - first_inactive_index - 1, - ); - first_inactive_index -= 1; } } -- cgit