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Cargo fmt

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This commit is contained in:
Sébastien Crozet
2022-03-20 12:50:42 +01:00
committed by Sébastien Crozet
parent 8a7ec1f72e
commit d22d3fcc9f
2 changed files with 9 additions and 7 deletions
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4
src/dynamics/joint/mod.rs
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@@ -1,6 +1,6 @@
pub use self::fixed_joint::*; pub use self::fixed_joint::*;
pub use self::impulse_joint::*;
pub use self::generic_joint::*; pub use self::generic_joint::*;
pub use self::impulse_joint::*;
pub use self::motor_model::MotorModel; pub use self::motor_model::MotorModel;
pub use self::multibody_joint::*; pub use self::multibody_joint::*;
pub use self::prismatic_joint::*; pub use self::prismatic_joint::*;
@@ -10,8 +10,8 @@ pub use self::revolute_joint::*;
pub use self::spherical_joint::*; pub use self::spherical_joint::*;
mod fixed_joint; mod fixed_joint;
mod impulse_joint;
mod generic_joint; mod generic_joint;
mod impulse_joint;
mod motor_model; mod motor_model;
mod multibody_joint; mod multibody_joint;
mod prismatic_joint; mod prismatic_joint;

12
src/dynamics/solver/parallel_island_solver.rs
View File

@@ -186,7 +186,7 @@ impl ParallelIslandSolver {
let num_threads = rayon::current_num_threads(); let num_threads = rayon::current_num_threads();
let num_task_per_island = num_threads; // (num_threads / num_islands).max(1); // TODO: not sure this is the best value. Also, perhaps it is better to interleave tasks of each island? let num_task_per_island = num_threads; // (num_threads / num_islands).max(1); // TODO: not sure this is the best value. Also, perhaps it is better to interleave tasks of each island?
self.thread = ThreadContext::new(8); // TODO: could we compute some kind of optimal value here? self.thread = ThreadContext::new(8); // TODO: could we compute some kind of optimal value here?
// Interactions grouping. // Interactions grouping.
self.parallel_groups.group_interactions( self.parallel_groups.group_interactions(
island_id, island_id,
@@ -229,7 +229,9 @@ impl ParallelIslandSolver {
if self.parallel_contact_constraints.generic_jacobians.len() < contact_j_id { if self.parallel_contact_constraints.generic_jacobians.len() < contact_j_id {
self.parallel_contact_constraints.generic_jacobians = DVector::zeros(contact_j_id); self.parallel_contact_constraints.generic_jacobians = DVector::zeros(contact_j_id);
} else { } else {
self.parallel_contact_constraints.generic_jacobians.fill(0.0); self.parallel_contact_constraints
.generic_jacobians
.fill(0.0);
} }
if self.parallel_joint_constraints.generic_jacobians.len() < joint_j_id { if self.parallel_joint_constraints.generic_jacobians.len() < joint_j_id {
@@ -315,7 +317,7 @@ impl ParallelIslandSolver {
let multibody = multibodies let multibody = multibodies
.get_multibody_mut_internal(link.multibody) .get_multibody_mut_internal(link.multibody)
.unwrap(); .unwrap();
if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic { if link.id == 0 || link.id == 1 && !multibody.root_is_dynamic {
let mut mj_lambdas = velocity_solver let mut mj_lambdas = velocity_solver
.generic_mj_lambdas .generic_mj_lambdas
@@ -325,9 +327,9 @@ impl ParallelIslandSolver {
} else { } else {
let (ids, mprops, forces): (&RigidBodyIds, &RigidBodyMassProps, &RigidBodyForces) = let (ids, mprops, forces): (&RigidBodyIds, &RigidBodyMassProps, &RigidBodyForces) =
bodies.index_bundle(handle.0); bodies.index_bundle(handle.0);
let dvel = &mut velocity_solver.mj_lambdas[ids.active_set_offset]; let dvel = &mut velocity_solver.mj_lambdas[ids.active_set_offset];
// NOTE: `dvel.angular` is actually storing angular velocity delta multiplied // NOTE: `dvel.angular` is actually storing angular velocity delta multiplied
// by the square root of the inertia tensor: // by the square root of the inertia tensor:
dvel.angular += mprops.effective_world_inv_inertia_sqrt * forces.torque * params.dt; dvel.angular += mprops.effective_world_inv_inertia_sqrt * forces.torque * params.dt;