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use super::{PositionSolver, VelocitySolver};
use crate::counters::Counters;
use crate::dynamics::{IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
pub struct IslandSolver {
velocity_solver: VelocitySolver,
position_solver: PositionSolver,
}
impl IslandSolver {
pub fn new() -> Self {
Self {
velocity_solver: VelocitySolver::new(),
position_solver: PositionSolver::new(),
}
}
pub fn solve_island(
&mut self,
island_id: usize,
counters: &mut Counters,
params: &IntegrationParameters,
bodies: &mut RigidBodySet,
manifolds: &mut [&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
joints: &mut [JointGraphEdge],
joint_indices: &[JointIndex],
) {
if manifold_indices.len() != 0 || joint_indices.len() != 0 {
counters.solver.velocity_assembly_time.resume();
self.velocity_solver.init_constraints(
island_id,
params,
bodies,
manifolds,
&manifold_indices,
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(
island_id,
params,
bodies,
manifolds,
&manifold_indices,
joints,
&joint_indices,
);
counters.solver.position_assembly_time.pause();
}
counters.solver.velocity_update_time.resume();
bodies
.foreach_active_island_body_mut_internal(island_id, |_, rb| rb.integrate(params.dt()));
counters.solver.velocity_update_time.pause();
if manifold_indices.len() != 0 || joint_indices.len() != 0 {
counters.solver.position_resolution_time.resume();
self.position_solver
.solve_constraints(island_id, params, bodies);
counters.solver.position_resolution_time.pause();
}
}
}
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