refactor: generalize anchor constraint via beam

1 files changed, 0 insertions, 43 deletions

diff --git a/physics/src/constraint/anchor.rs b/physics/src/constraint/anchor.rs
deleted file mode 100644
index c90cfb2..0000000
--- a/physics/src/constraint/anchor.rs
+++ /dev/null
@@ -1,43 +0,0 @@
-use nalgebra::{DVector, RowDVector};
-
-use crate::particle_system::ParticleSystem;
-use crate::algebra::{Point, Scalar, N};
-
-use super::Constraint;
-
-pub struct AnchorConstraint {
-    pub particle_id: usize,
-    pub anchor: Point,
-
-    jacobian: RowDVector<Scalar>,
-}
-
-impl ParticleSystem {
-    pub fn add_anchor_constraint(&mut self, particle_id: usize) {
-        let anchor = self.particles[particle_id].position;
-        self.constraints.push(Box::new(AnchorConstraint {
-            particle_id,
-            anchor,
-            jacobian: RowDVector::zeros(self.particles.len() * N),
-        }));
-    }
-}
-
-impl Constraint for AnchorConstraint {
-    fn get_particles(&self) -> Vec<usize> {
-        vec![self.particle_id]
-    }
-
-    fn c(&self, q: &DVector<Scalar>) -> Scalar {
-        let position = q.fixed_rows(self.particle_id * N);
-        (position - self.anchor.coords).norm()
-    }
-
-    fn set_jacobian(&mut self, jacobian: RowDVector<Scalar>) {
-        self.jacobian = jacobian
-    }
-
-    fn jacobian_prev(&self) -> RowDVector<Scalar> {
-        self.jacobian.clone()
-    }
-}