52 lines
1.6 KiB
Rust
52 lines
1.6 KiB
Rust
use super::{FixedPositionConstraint, FixedPositionGroundConstraint};
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use crate::dynamics::{FixedJoint, IntegrationParameters, RigidBody};
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use crate::math::{Isometry, Real, SIMD_WIDTH};
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// TODO: this does not uses SIMD optimizations yet.
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#[derive(Debug)]
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pub(crate) struct WFixedPositionConstraint {
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constraints: [FixedPositionConstraint; SIMD_WIDTH],
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}
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impl WFixedPositionConstraint {
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pub fn from_params(
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rbs1: [&RigidBody; SIMD_WIDTH],
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rbs2: [&RigidBody; SIMD_WIDTH],
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cparams: [&FixedJoint; SIMD_WIDTH],
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) -> Self {
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Self {
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constraints: array![|ii| FixedPositionConstraint::from_params(rbs1[ii], rbs2[ii], cparams[ii]); SIMD_WIDTH],
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}
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}
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pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
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for constraint in &self.constraints {
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constraint.solve(params, positions);
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}
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}
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}
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#[derive(Debug)]
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pub(crate) struct WFixedPositionGroundConstraint {
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constraints: [FixedPositionGroundConstraint; SIMD_WIDTH],
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}
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impl WFixedPositionGroundConstraint {
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pub fn from_params(
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rbs1: [&RigidBody; SIMD_WIDTH],
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rbs2: [&RigidBody; SIMD_WIDTH],
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cparams: [&FixedJoint; SIMD_WIDTH],
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flipped: [bool; SIMD_WIDTH],
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) -> Self {
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Self {
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constraints: array![|ii| FixedPositionGroundConstraint::from_params(rbs1[ii], rbs2[ii], cparams[ii], flipped[ii]); SIMD_WIDTH],
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}
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}
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pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
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for constraint in &self.constraints {
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constraint.solve(params, positions);
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}
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}
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}
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