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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/parallel_island_solver.rs
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@@ -2,7 +2,7 @@ use super::{DeltaVel, ParallelInteractionGroups, ParallelVelocitySolver};
use crate::dynamics::solver::ParallelPositionSolver;
use crate::dynamics::{IntegrationParameters, JointGraphEdge, JointIndex, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::Isometry;
use crate::math::{Isometry, Real};
use crate::utils::WAngularInertia;
use rayon::Scope;
use std::sync::atomic::{AtomicUsize, Ordering};
@@ -119,8 +119,8 @@ impl ThreadContext {
}
pub struct ParallelIslandSolver {
mj_lambdas: Vec<DeltaVel<f32>>,
positions: Vec<Isometry<f32>>,
mj_lambdas: Vec<DeltaVel<Real>>,
positions: Vec<Isometry<Real>>,
parallel_groups: ParallelInteractionGroups,
parallel_joint_groups: ParallelInteractionGroups,
parallel_velocity_solver: ParallelVelocitySolver,
@@ -199,9 +199,9 @@ impl ParallelIslandSolver {
scope.spawn(move |_| {
// Transmute *mut -> &mut
let mj_lambdas: &mut Vec<DeltaVel<f32>> =
let mj_lambdas: &mut Vec<DeltaVel<Real>> =
unsafe { std::mem::transmute(mj_lambdas.load(Ordering::Relaxed)) };
let positions: &mut Vec<Isometry<f32>> =
let positions: &mut Vec<Isometry<Real>> =
unsafe { std::mem::transmute(positions.load(Ordering::Relaxed)) };
let bodies: &mut RigidBodySet =
unsafe { std::mem::transmute(bodies.load(Ordering::Relaxed)) };