nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add support of 64-bits reals.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

12
src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
View File

@@ -5,8 +5,8 @@ use crate::dynamics::{
FixedJoint, IntegrationParameters, JointGraphEdge, JointIndex, JointParams, RigidBody,
};
use crate::math::{
AngVector, AngularInertia, CrossMatrix, Dim, Isometry, Point, SimdReal, SpacialVector, Vector,
SIMD_WIDTH,
AngVector, AngularInertia, CrossMatrix, Dim, Isometry, Point, Real, SimdReal, SpacialVector,
Vector, SIMD_WIDTH,
};
use crate::utils::{WAngularInertia, WCross, WCrossMatrix};
#[cfg(feature = "dim3")]
@@ -158,7 +158,7 @@ impl WFixedVelocityConstraint {
}
}
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],
@@ -202,7 +202,7 @@ impl WFixedVelocityConstraint {
}
}
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],
@@ -393,7 +393,7 @@ impl WFixedVelocityGroundConstraint {
}
}
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],
@@ -420,7 +420,7 @@ impl WFixedVelocityGroundConstraint {
}
}
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],