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|
use super::{
AnyJointPositionConstraint, InteractionGroups, PositionConstraint, PositionGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
use super::{WPositionConstraint, WPositionGroundConstraint};
use crate::dynamics::solver::categorization::categorize_joints;
use crate::dynamics::{
solver::AnyPositionConstraint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet,
};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::Isometry;
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
pub(crate) struct PositionSolver {
positions: Vec<Isometry<f32>>,
}
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],
) {
self.positions.clear();
self.positions.extend(
bodies
.iter_active_island(island_id)
.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)
}
}
bodies.foreach_active_island_body_mut_internal(island_id, |_, rb| {
rb.set_position_internal(self.positions[rb.active_set_offset])
});
}
}
|
