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Start experimenting with a generic joint implementation for joint drives.

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This commit is contained in:
Crozet Sébastien
2021-02-10 11:56:51 +01:00
parent 3be8669206
commit 5b80c4efbf
14 changed files with 1350 additions and 7 deletions
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21
src/dynamics/solver/joint_constraint/mod.rs
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@@ -18,6 +18,21 @@ pub(self) use fixed_velocity_constraint::{FixedVelocityConstraint, FixedVelocity
pub(self) use fixed_velocity_constraint_wide::{
WFixedVelocityConstraint, WFixedVelocityGroundConstraint,
};
pub(self) use generic_position_constraint::{
GenericPositionConstraint, GenericPositionGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
pub(self) use generic_position_constraint_wide::{
WGenericPositionConstraint, WGenericPositionGroundConstraint,
};
pub(self) use generic_velocity_constraint::{
GenericVelocityConstraint, GenericVelocityGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
pub(self) use generic_velocity_constraint_wide::{
WGenericVelocityConstraint, WGenericVelocityGroundConstraint,
};
pub(crate) use joint_constraint::AnyJointVelocityConstraint;
pub(crate) use joint_position_constraint::AnyJointPositionConstraint;
pub(self) use prismatic_position_constraint::{
@@ -63,6 +78,12 @@ mod fixed_position_constraint_wide;
mod fixed_velocity_constraint;
#[cfg(feature = "simd-is-enabled")]
mod fixed_velocity_constraint_wide;
mod generic_position_constraint;
#[cfg(feature = "simd-is-enabled")]
mod generic_position_constraint_wide;
mod generic_velocity_constraint;
#[cfg(feature = "simd-is-enabled")]
mod generic_velocity_constraint_wide;
mod joint_constraint;
mod joint_position_constraint;
mod prismatic_position_constraint;