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use crate::data::ComponentSet;
use crate::dynamics::{JointGraphEdge, JointIndex, MultibodyJointSet, RigidBodyType};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
pub(crate) fn categorize_contacts(
_bodies: &impl ComponentSet<RigidBodyType>, // Unused but useful to simplify the parallel code.
multibody_joints: &MultibodyJointSet,
manifolds: &[&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
out_ground: &mut Vec<ContactManifoldIndex>,
out_not_ground: &mut Vec<ContactManifoldIndex>,
out_generic_ground: &mut Vec<ContactManifoldIndex>,
out_generic_not_ground: &mut Vec<ContactManifoldIndex>,
) {
for manifold_i in manifold_indices {
let manifold = &manifolds[*manifold_i];
if manifold
.data
.rigid_body1
.and_then(|h| multibody_joints.rigid_body_link(h))
.is_some()
|| manifold
.data
.rigid_body2
.and_then(|h| multibody_joints.rigid_body_link(h))
.is_some()
{
if manifold.data.relative_dominance != 0 {
out_generic_ground.push(*manifold_i);
} else {
out_generic_not_ground.push(*manifold_i);
}
} else if manifold.data.relative_dominance != 0 {
out_ground.push(*manifold_i)
} else {
out_not_ground.push(*manifold_i)
}
}
}
pub(crate) fn categorize_joints(
bodies: &impl ComponentSet<RigidBodyType>,
multibody_joints: &MultibodyJointSet,
impulse_joints: &[JointGraphEdge],
joint_indices: &[JointIndex],
ground_joints: &mut Vec<JointIndex>,
nonground_joints: &mut Vec<JointIndex>,
generic_ground_joints: &mut Vec<JointIndex>,
generic_nonground_joints: &mut Vec<JointIndex>,
) {
for joint_i in joint_indices {
let joint = &impulse_joints[*joint_i].weight;
let status1 = bodies.index(joint.body1.0);
let status2 = bodies.index(joint.body2.0);
if multibody_joints.rigid_body_link(joint.body1).is_some()
|| multibody_joints.rigid_body_link(joint.body2).is_some()
{
if !status1.is_dynamic() || !status2.is_dynamic() {
generic_ground_joints.push(*joint_i);
} else {
generic_nonground_joints.push(*joint_i);
}
} else if !status1.is_dynamic() || !status2.is_dynamic() {
ground_joints.push(*joint_i);
} else {
nonground_joints.push(*joint_i);
}
}
}
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