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Rebase on master branch

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This commit is contained in:
Sébastien Crozet
2022-03-06 11:32:25 +01:00
committed by Sébastien Crozet
parent 815de4beff
commit 891c08177d
13 changed files with 199 additions and 181 deletions
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2
src/dynamics/solver/joint_constraint/joint_constraint.rs
View File

@@ -12,7 +12,7 @@ use crate::dynamics::{
};
#[cfg(feature = "simd-is-enabled")]
use crate::math::{Isometry, SimdReal, SIMD_WIDTH};
use crate::math::{Real, DIM, SPATIAL_DIM};
use crate::math::{Real, SPATIAL_DIM};
use crate::prelude::MultibodyJointSet;
use na::DVector;

4
src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs
View File

@@ -58,7 +58,7 @@ impl SolverBody<Real, 1> {
impl JointVelocityConstraintBuilder<Real> {
pub fn lock_jacobians_generic(
&self,
params: &IntegrationParameters,
_params: &IntegrationParameters,
jacobians: &mut DVector<Real>,
j_id: &mut usize,
joint_id: JointIndex,
@@ -500,7 +500,7 @@ impl JointVelocityConstraintBuilder<Real> {
impl JointVelocityConstraintBuilder<Real> {
pub fn lock_jacobians_generic_ground(
&self,
params: &IntegrationParameters,
_params: &IntegrationParameters,
jacobians: &mut DVector<Real>,
j_id: &mut usize,
joint_id: JointIndex,

19
src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
View File

@@ -3,7 +3,7 @@ use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
};
use crate::dynamics::solver::joint_constraint::SolverBody;
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::{IntegrationParameters, JointAxesMask, JointIndex, JointLimits, JointMotor};
use crate::dynamics::{IntegrationParameters, JointIndex, JointLimits};
use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
use crate::utils::{IndexMut2, WCrossMatrix, WDot, WQuat, WReal};
use na::SMatrix;
@@ -660,15 +660,14 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> {
pub fn motor_linear_coupled_ground<const LANES: usize>(
&self,
params: &IntegrationParameters,
joint_id: [JointIndex; LANES],
body1: &SolverBody<N, LANES>,
body2: &SolverBody<N, LANES>,
motor_coupled_axes: u8,
motors: &[MotorParameters<N>],
limited_coupled_axes: u8,
limits: &[JointLimits<N>],
writeback_id: WritebackId,
_joint_id: [JointIndex; LANES],
_body1: &SolverBody<N, LANES>,
_body2: &SolverBody<N, LANES>,
_motor_coupled_axes: u8,
_motors: &[MotorParameters<N>],
_limited_coupled_axes: u8,
_limits: &[JointLimits<N>],
_writeback_id: WritebackId,
) -> JointVelocityGroundConstraint<N, LANES> {
todo!()
/*