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Refactor the parallel solver code the same way we did with the non-parallel solver.

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This commit is contained in:
Crozet Sébastien
2021-01-04 17:59:51 +01:00
parent aa61fe65e3
commit c28b14d31c
14 changed files with 691 additions and 873 deletions
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24
src/dynamics/solver/joint_constraint/mod.rs
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@@ -9,6 +9,10 @@ pub(self) use ball_velocity_constraint_wide::{
WBallVelocityConstraint, WBallVelocityGroundConstraint,
};
pub(self) use fixed_position_constraint::{FixedPositionConstraint, FixedPositionGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
pub(self) use fixed_position_constraint_wide::{
WFixedPositionConstraint, WFixedPositionGroundConstraint,
};
pub(self) use fixed_velocity_constraint::{FixedVelocityConstraint, FixedVelocityGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
pub(self) use fixed_velocity_constraint_wide::{
@@ -19,6 +23,10 @@ pub(crate) use joint_position_constraint::AnyJointPositionConstraint;
pub(self) use prismatic_position_constraint::{
PrismaticPositionConstraint, PrismaticPositionGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
pub(self) use prismatic_position_constraint_wide::{
WPrismaticPositionConstraint, WPrismaticPositionGroundConstraint,
};
pub(self) use prismatic_velocity_constraint::{
PrismaticVelocityConstraint, PrismaticVelocityGroundConstraint,
};
@@ -30,12 +38,15 @@ pub(self) use prismatic_velocity_constraint_wide::{
pub(self) use revolute_position_constraint::{
RevolutePositionConstraint, RevolutePositionGroundConstraint,
};
#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
pub(self) use revolute_position_constraint_wide::{
WRevolutePositionConstraint, WRevolutePositionGroundConstraint,
};
#[cfg(feature = "dim3")]
pub(self) use revolute_velocity_constraint::{
RevoluteVelocityConstraint, RevoluteVelocityGroundConstraint,
};
#[cfg(feature = "dim3")]
#[cfg(feature = "simd-is-enabled")]
#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
pub(self) use revolute_velocity_constraint_wide::{
WRevoluteVelocityConstraint, WRevoluteVelocityGroundConstraint,
};
@@ -47,19 +58,24 @@ mod ball_velocity_constraint;
#[cfg(feature = "simd-is-enabled")]
mod ball_velocity_constraint_wide;
mod fixed_position_constraint;
#[cfg(feature = "simd-is-enabled")]
mod fixed_position_constraint_wide;
mod fixed_velocity_constraint;
#[cfg(feature = "simd-is-enabled")]
mod fixed_velocity_constraint_wide;
mod joint_constraint;
mod joint_position_constraint;
mod prismatic_position_constraint;
#[cfg(feature = "simd-is-enabled")]
mod prismatic_position_constraint_wide;
mod prismatic_velocity_constraint;
#[cfg(feature = "simd-is-enabled")]
mod prismatic_velocity_constraint_wide;
#[cfg(feature = "dim3")]
mod revolute_position_constraint;
#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
mod revolute_position_constraint_wide;
#[cfg(feature = "dim3")]
mod revolute_velocity_constraint;
#[cfg(feature = "dim3")]
#[cfg(feature = "simd-is-enabled")]
#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
mod revolute_velocity_constraint_wide;