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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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38
src/dynamics/solver/joint_constraint/prismatic_position_constraint.rs
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@@ -1,5 +1,5 @@
use crate::dynamics::{IntegrationParameters, PrismaticJoint, RigidBody};
use crate::math::{AngularInertia, Isometry, Point, Rotation, Vector};
use crate::math::{AngularInertia, Isometry, Point, Real, Rotation, Vector};
use crate::utils::WAngularInertia;
use na::Unit;
@@ -8,22 +8,22 @@ pub(crate) struct PrismaticPositionConstraint {
position1: usize,
position2: usize,
im1: f32,
im2: f32,
im1: Real,
im2: Real,
ii1: AngularInertia<f32>,
ii2: AngularInertia<f32>,
ii1: AngularInertia<Real>,
ii2: AngularInertia<Real>,
lin_inv_lhs: f32,
ang_inv_lhs: AngularInertia<f32>,
lin_inv_lhs: Real,
ang_inv_lhs: AngularInertia<Real>,
limits: [f32; 2],
limits: [Real; 2],
local_frame1: Isometry<f32>,
local_frame2: Isometry<f32>,
local_frame1: Isometry<Real>,
local_frame2: Isometry<Real>,
local_axis1: Unit<Vector<f32>>,
local_axis2: Unit<Vector<f32>>,
local_axis1: Unit<Vector<Real>>,
local_axis2: Unit<Vector<Real>>,
}
impl PrismaticPositionConstraint {
@@ -52,7 +52,7 @@ impl PrismaticPositionConstraint {
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
let mut position1 = positions[self.position1 as usize];
let mut position2 = positions[self.position2 as usize];
@@ -99,11 +99,11 @@ impl PrismaticPositionConstraint {
#[derive(Debug)]
pub(crate) struct PrismaticPositionGroundConstraint {
position2: usize,
frame1: Isometry<f32>,
local_frame2: Isometry<f32>,
axis1: Unit<Vector<f32>>,
local_axis2: Unit<Vector<f32>>,
limits: [f32; 2],
frame1: Isometry<Real>,
local_frame2: Isometry<Real>,
axis1: Unit<Vector<Real>>,
local_axis2: Unit<Vector<Real>>,
limits: [Real; 2],
}
impl PrismaticPositionGroundConstraint {
@@ -140,7 +140,7 @@ impl PrismaticPositionGroundConstraint {
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
let mut position2 = positions[self.position2 as usize];
// Angular correction.