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Make revolute joint actuation work properly even when SIMD is enabled.

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This commit is contained in:
Crozet Sébastien
2021-02-19 17:32:09 +01:00
parent e9f17f32e8
commit dc8ccc0c30
10 changed files with 176 additions and 93 deletions
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31
src/dynamics/solver/joint_constraint/joint_constraint.rs
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@@ -7,8 +7,7 @@ use super::{RevoluteVelocityConstraint, RevoluteVelocityGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
use super::{
WBallVelocityConstraint, WBallVelocityGroundConstraint, WFixedVelocityConstraint,
WFixedVelocityGroundConstraint, WGenericPositionConstraint, WGenericPositionGroundConstraint,
WGenericVelocityConstraint, WGenericVelocityGroundConstraint, WPrismaticVelocityConstraint,
WFixedVelocityGroundConstraint, WPrismaticVelocityConstraint,
WPrismaticVelocityGroundConstraint,
};
#[cfg(feature = "dim3")]
@@ -122,12 +121,12 @@ impl AnyJointVelocityConstraint {
params, joint_id, rbs1, rbs2, joints,
))
}
JointParams::GenericJoint(_) => {
let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
AnyJointVelocityConstraint::WGenericConstraint(
WGenericVelocityConstraint::from_params(params, joint_id, rbs1, rbs2, joints),
)
}
// JointParams::GenericJoint(_) => {
// let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
// AnyJointVelocityConstraint::WGenericConstraint(
// WGenericVelocityConstraint::from_params(params, joint_id, rbs1, rbs2, joints),
// )
// }
JointParams::PrismaticJoint(_) => {
let joints =
array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH];
@@ -221,14 +220,14 @@ impl AnyJointVelocityConstraint {
),
)
}
JointParams::GenericJoint(_) => {
let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
AnyJointVelocityConstraint::WGenericGroundConstraint(
WGenericVelocityGroundConstraint::from_params(
params, joint_id, rbs1, rbs2, joints, flipped,
),
)
}
// JointParams::GenericJoint(_) => {
// let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
// AnyJointVelocityConstraint::WGenericGroundConstraint(
// WGenericVelocityGroundConstraint::from_params(
// params, joint_id, rbs1, rbs2, joints, flipped,
// ),
// )
// }
JointParams::PrismaticJoint(_) => {
let joints =
array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH];