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|
use super::AnyJointPositionConstraint;
use crate::data::{ComponentSet, ComponentSetMut};
use crate::dynamics::{solver::AnyPositionConstraint, IntegrationParameters};
use crate::dynamics::{IslandManager, RigidBodyIds, RigidBodyPosition};
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<Bodies>(
&mut self,
island_id: usize,
params: &IntegrationParameters,
islands: &IslandManager,
bodies: &mut Bodies,
contact_constraints: &[AnyPositionConstraint],
joint_constraints: &[AnyJointPositionConstraint],
) where
Bodies: ComponentSet<RigidBodyIds> + ComponentSetMut<RigidBodyPosition>,
{
if contact_constraints.is_empty() && joint_constraints.is_empty() {
// Nothing to do.
return;
}
self.positions.clear();
self.positions
.extend(islands.active_island(island_id).iter().map(|h| {
let poss: &RigidBodyPosition = bodies.index(h.0);
poss.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)
}
}
for handle in islands.active_island(island_id) {
let ids: &RigidBodyIds = bodies.index(handle.0);
let next_pos = &self.positions[ids.active_set_offset];
bodies.map_mut_internal(handle.0, |poss| poss.next_position = *next_pos);
}
}
}
|
