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|
use super::AnyJointPositionConstraint;
use crate::dynamics::{
solver::AnyPositionConstraint, IntegrationParameters, IslandSet, RigidBodySet,
};
use crate::math::{Isometry, Real};
pub(crate) struct PositionSolver {
positions: Vec<Isometry<Real>>,
}
impl PositionSolver {
pub fn new() -> Self {
Self {
positions: Vec::new(),
}
}
pub fn solve(
&mut self,
island_id: usize,
params: &IntegrationParameters,
islands: &IslandSet,
bodies: &mut RigidBodySet,
contact_constraints: &[AnyPositionConstraint],
joint_constraints: &[AnyJointPositionConstraint],
) {
self.positions.clear();
self.positions.extend(
islands
.active_bodies()
.iter()
.filter_map(|h| bodies.get(*h))
.map(|b| b.position),
);
for _ in 0..params.max_position_iterations {
for constraint in joint_constraints {
constraint.solve(params, &mut self.positions)
}
for constraint in contact_constraints {
constraint.solve(params, &mut self.positions)
}
}
for handle in islands.active_bodies() {
if let Some(rb) = bodies.get_mut(*handle) {
rb.set_position_internal(self.positions[rb.island_offset])
}
}
}
}
|
