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use super::VelocitySolver;
use crate::counters::Counters;
use crate::dynamics::solver::{
AnyJointVelocityConstraint, AnyVelocityConstraint, SolverConstraints,
};
use crate::dynamics::IslandManager;
use crate::dynamics::{IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::prelude::MultibodyJointSet;
pub struct IslandSolver {
contact_constraints: SolverConstraints<AnyVelocityConstraint>,
joint_constraints: SolverConstraints<AnyJointVelocityConstraint>,
velocity_solver: VelocitySolver,
}
impl Default for IslandSolver {
fn default() -> Self {
Self::new()
}
}
impl IslandSolver {
pub fn new() -> Self {
Self {
contact_constraints: SolverConstraints::new(),
joint_constraints: SolverConstraints::new(),
velocity_solver: VelocitySolver::new(),
}
}
pub fn init_and_solve(
&mut self,
island_id: usize,
counters: &mut Counters,
params: &IntegrationParameters,
islands: &IslandManager,
bodies: &mut RigidBodySet,
manifolds: &mut [&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
impulse_joints: &mut [JointGraphEdge],
joint_indices: &[JointIndex],
multibody_joints: &mut MultibodyJointSet,
) {
// Init the solver id for multibody_joints.
// We need that for building the constraints.
let mut solver_id = 0;
for (_, multibody) in multibody_joints.multibodies.iter_mut() {
multibody.solver_id = solver_id;
solver_id += multibody.ndofs();
}
counters.solver.velocity_assembly_time.resume();
self.contact_constraints.init(
island_id,
params,
islands,
bodies,
multibody_joints,
manifolds,
manifold_indices,
);
self.joint_constraints.init(
island_id,
params,
islands,
bodies,
multibody_joints,
impulse_joints,
joint_indices,
);
counters.solver.velocity_assembly_time.pause();
counters.solver.velocity_resolution_time.resume();
self.velocity_solver.solve(
island_id,
params,
islands,
bodies,
multibody_joints,
manifolds,
impulse_joints,
&mut self.contact_constraints.velocity_constraints,
&self.contact_constraints.generic_jacobians,
&mut self.joint_constraints.velocity_constraints,
&self.joint_constraints.generic_jacobians,
);
counters.solver.velocity_resolution_time.pause();
}
}
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