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|
use super::AnyJointPositionConstraint;
use crate::dynamics::{solver::AnyPositionConstraint, IntegrationParameters, 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,
bodies: &mut RigidBodySet,
contact_constraints: &[AnyPositionConstraint],
joint_constraints: &[AnyJointPositionConstraint],
) {
if contact_constraints.is_empty() && joint_constraints.is_empty() {
// Nothing to do.
return;
}
self.positions.clear();
self.positions.extend(
bodies
.iter_active_island(island_id)
.map(|(_, b)| b.next_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)
}
}
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
rb.set_next_position(self.positions[rb.active_set_offset])
});
}
}
|
