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Add support of 64-bits reals.

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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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4
src/dynamics/solver/joint_constraint/joint_position_constraint.rs
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@@ -7,9 +7,9 @@ use super::{RevolutePositionConstraint, RevolutePositionGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
use super::{WBallPositionConstraint, WBallPositionGroundConstraint};
use crate::dynamics::{IntegrationParameters, Joint, JointParams, RigidBodySet};
use crate::math::Isometry;
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
use crate::math::{Isometry, Real};
pub(crate) enum AnyJointPositionConstraint {
BallJoint(BallPositionConstraint),
@@ -147,7 +147,7 @@ impl AnyJointPositionConstraint {
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
match self {
AnyJointPositionConstraint::BallJoint(c) => c.solve(params, positions),
AnyJointPositionConstraint::BallGroundConstraint(c) => c.solve(params, positions),