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use super::{PositionSolver, VelocitySolver};
use crate::counters::Counters;
use crate::data::{BundleSet, ComponentSet, ComponentSetMut};
use crate::dynamics::solver::{
AnyJointPositionConstraint, AnyJointVelocityConstraint, AnyPositionConstraint,
AnyVelocityConstraint, SolverConstraints,
};
use crate::dynamics::{
IntegrationParameters, JointGraphEdge, JointIndex, RigidBodyDamping, RigidBodyForces,
RigidBodyIds, RigidBodyMassProps, RigidBodyPosition, RigidBodyType,
};
use crate::dynamics::{IslandManager, RigidBodyVelocity};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
pub struct IslandSolver {
contact_constraints: SolverConstraints<AnyVelocityConstraint, AnyPositionConstraint>,
joint_constraints: SolverConstraints<AnyJointVelocityConstraint, AnyJointPositionConstraint>,
velocity_solver: VelocitySolver,
position_solver: PositionSolver,
}
impl IslandSolver {
pub fn new() -> Self {
Self {
contact_constraints: SolverConstraints::new(),
joint_constraints: SolverConstraints::new(),
velocity_solver: VelocitySolver::new(),
position_solver: PositionSolver::new(),
}
}
pub fn solve_position_constraints<Bodies>(
&mut self,
island_id: usize,
islands: &IslandManager,
counters: &mut Counters,
params: &IntegrationParameters,
bodies: &mut Bodies,
) where
Bodies: ComponentSet<RigidBodyIds> + ComponentSetMut<RigidBodyPosition>,
{
counters.solver.position_resolution_time.resume();
self.position_solver.solve(
island_id,
params,
islands,
bodies,
&self.contact_constraints.position_constraints,
&self.joint_constraints.position_constraints,
);
counters.solver.position_resolution_time.pause();
}
pub fn init_constraints_and_solve_velocity_constraints<Bodies>(
&mut self,
island_id: usize,
counters: &mut Counters,
params: &IntegrationParameters,
islands: &IslandManager,
bodies: &mut Bodies,
manifolds: &mut [&mut ContactManifold],
manifold_indices: &[ContactManifoldIndex],
joints: &mut [JointGraphEdge],
joint_indices: &[JointIndex],
) where
Bodies: ComponentSet<RigidBodyForces>
+ ComponentSetMut<RigidBodyPosition>
+ ComponentSetMut<RigidBodyVelocity>
+ ComponentSet<RigidBodyMassProps>
+ ComponentSet<RigidBodyDamping>
+ ComponentSet<RigidBodyIds>
+ ComponentSet<RigidBodyType>,
{
let has_constraints = manifold_indices.len() != 0 || joint_indices.len() != 0;
if has_constraints {
counters.solver.velocity_assembly_time.resume();
self.contact_constraints.init(
island_id,
params,
islands,
bodies,
manifolds,
manifold_indices,
);
self.joint_constraints
.init(island_id, params, islands, bodies, joints, joint_indices);
counters.solver.velocity_assembly_time.pause();
counters.solver.velocity_resolution_time.resume();
self.velocity_solver.solve(
island_id,
params,
islands,
bodies,
manifolds,
joints,
&mut self.contact_constraints.velocity_constraints,
&mut self.joint_constraints.velocity_constraints,
);
counters.solver.velocity_resolution_time.pause();
counters.solver.velocity_update_time.resume();
for handle in islands.active_island(island_id) {
let (poss, vels, damping, mprops): (
&RigidBodyPosition,
&RigidBodyVelocity,
&RigidBodyDamping,
&RigidBodyMassProps,
) = bodies.index_bundle(handle.0);
let mut new_poss = *poss;
let new_vels = vels.apply_damping(params.dt, damping);
new_poss.next_position =
vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
bodies.set_internal(handle.0, new_vels);
bodies.set_internal(handle.0, new_poss);
}
counters.solver.velocity_update_time.pause();
} else {
self.contact_constraints.clear();
self.joint_constraints.clear();
counters.solver.velocity_update_time.resume();
for handle in islands.active_island(island_id) {
// Since we didn't run the velocity solver we need to integrate the accelerations here
let (poss, vels, forces, damping, mprops): (
&RigidBodyPosition,
&RigidBodyVelocity,
&RigidBodyForces,
&RigidBodyDamping,
&RigidBodyMassProps,
) = bodies.index_bundle(handle.0);
let mut new_poss = *poss;
let new_vels = forces
.integrate(params.dt, vels, mprops)
.apply_damping(params.dt, &damping);
new_poss.next_position =
vels.integrate(params.dt, &poss.position, &mprops.local_mprops.local_com);
bodies.set_internal(handle.0, new_vels);
bodies.set_internal(handle.0, new_poss);
}
counters.solver.velocity_update_time.pause();
}
}
}
|
