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Reduce code duplication between the SIMD and non-SIMD contact solve and warmstart.

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Crozet Sébastien
2021-03-07 17:15:32 +01:00
parent 4cb1f5c692
commit 0e4393ba9e
8 changed files with 576 additions and 625 deletions
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4
src/dynamics/solver/mod.rs
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@@ -24,9 +24,11 @@ pub(self) use position_ground_constraint::*;
#[cfg(feature = "simd-is-enabled")]
pub(self) use position_ground_constraint_wide::*;
pub(self) use velocity_constraint::*;
pub(self) use velocity_constraint_element::*;
#[cfg(feature = "simd-is-enabled")]
pub(self) use velocity_constraint_wide::*;
pub(self) use velocity_ground_constraint::*;
pub(self) use velocity_ground_constraint_element::*;
#[cfg(feature = "simd-is-enabled")]
pub(self) use velocity_ground_constraint_wide::*;
@@ -55,9 +57,11 @@ mod position_solver;
#[cfg(not(feature = "parallel"))]
mod solver_constraints;
mod velocity_constraint;
mod velocity_constraint_element;
#[cfg(feature = "simd-is-enabled")]
mod velocity_constraint_wide;
mod velocity_ground_constraint;
mod velocity_ground_constraint_element;
#[cfg(feature = "simd-is-enabled")]
mod velocity_ground_constraint_wide;
#[cfg(not(feature = "parallel"))]