feat: implement new "small-steps" solver + joint improvements

2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
--- a/src/control/ray_cast_vehicle_controller.rs
+++ b/src/control/ray_cast_vehicle_controller.rs
@@ -4,7 +4,7 @@ use crate::dynamics::{RigidBody, RigidBodyHandle, RigidBodySet};
 use crate::geometry::{ColliderHandle, ColliderSet, Ray};
 use crate::math::{Point, Real, Rotation, Vector};
 use crate::pipeline::{QueryFilter, QueryPipeline};
-use crate::utils::{WCross, WDot};
+use crate::utils::{SimdCross, SimdDot};

 /// A character controller to simulate vehicles using ray-casting for the wheels.
 pub struct DynamicRayCastVehicleController {