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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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28
src/dynamics/solver/joint_constraint/joint_position_constraint.rs
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@@ -10,8 +10,8 @@ use super::{WRevolutePositionConstraint, WRevolutePositionGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
use super::{
WBallPositionConstraint, WBallPositionGroundConstraint, WFixedPositionConstraint,
WFixedPositionGroundConstraint, WGenericPositionConstraint, WGenericPositionGroundConstraint,
WPrismaticPositionConstraint, WPrismaticPositionGroundConstraint,
WFixedPositionGroundConstraint, WPrismaticPositionConstraint,
WPrismaticPositionGroundConstraint,
};
use crate::dynamics::solver::DeltaVel;
use crate::dynamics::{IntegrationParameters, Joint, JointParams, RigidBodySet};
@@ -99,12 +99,12 @@ impl AnyJointPositionConstraint {
rbs1, rbs2, joints,
))
}
JointParams::GenericJoint(_) => {
let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
AnyJointPositionConstraint::WGenericJoint(WGenericPositionConstraint::from_params(
rbs1, rbs2, joints,
))
}
// JointParams::GenericJoint(_) => {
// let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
// AnyJointPositionConstraint::WGenericJoint(WGenericPositionConstraint::from_params(
// rbs1, rbs2, joints,
// ))
// }
JointParams::PrismaticJoint(_) => {
let joints =
array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH];
@@ -180,12 +180,12 @@ impl AnyJointPositionConstraint {
WFixedPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped),
)
}
JointParams::GenericJoint(_) => {
let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
AnyJointPositionConstraint::WGenericGroundConstraint(
WGenericPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped),
)
}
// JointParams::GenericJoint(_) => {
// let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH];
// AnyJointPositionConstraint::WGenericGroundConstraint(
// WGenericPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped),
// )
// }
JointParams::PrismaticJoint(_) => {
let joints =
array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH];