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Add support of 64-bits reals.

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This commit is contained in:
Crozet Sébastien
2021-01-04 15:14:25 +01:00
parent a1aa8855f7
commit aa61fe65e3
55 changed files with 656 additions and 518 deletions
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10
src/dynamics/solver/joint_constraint/ball_velocity_constraint_wide.rs
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@@ -3,7 +3,7 @@ use crate::dynamics::{
BallJoint, IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RigidBody,
};
use crate::math::{
AngVector, AngularInertia, Isometry, Point, SdpMatrix, SimdReal, Vector, SIMD_WIDTH,
AngVector, AngularInertia, Isometry, Point, Real, SdpMatrix, SimdReal, Vector, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
use simba::simd::SimdValue;
@@ -107,7 +107,7 @@ impl WBallVelocityConstraint {
}
}
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda1 = DeltaVel {
linear: Vector::from(
array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
@@ -140,7 +140,7 @@ impl WBallVelocityConstraint {
}
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda1: DeltaVel<SimdReal> = DeltaVel {
linear: Vector::from(
array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH],
@@ -274,7 +274,7 @@ impl WBallVelocityGroundConstraint {
}
}
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda2 = DeltaVel {
linear: Vector::from(
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],
@@ -293,7 +293,7 @@ impl WBallVelocityGroundConstraint {
}
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda2: DeltaVel<SimdReal> = DeltaVel {
linear: Vector::from(
array![|ii| mj_lambdas[self.mj_lambda2[ii] as usize].linear; SIMD_WIDTH],