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Use WReal instead of SimdRealField everywhere

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This commit is contained in:
Sébastien Crozet
2022-02-21 21:19:30 +01:00
parent 19a00885d6
commit 15b165893c
7 changed files with 41 additions and 56 deletions
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11
src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs
View File

@@ -3,7 +3,6 @@ use crate::dynamics::solver::DeltaVel;
use crate::dynamics::{IntegrationParameters, JointData, JointGraphEdge, JointIndex};
use crate::math::{AngVector, AngularInertia, Isometry, Point, Real, Vector, DIM, SPATIAL_DIM};
use crate::utils::{WDot, WReal};
use simba::simd::SimdRealField;
#[cfg(feature = "simd-is-enabled")]
use {
@@ -12,7 +11,7 @@ use {
};
#[derive(Copy, Clone, PartialEq, Debug)]
pub struct MotorParameters<N: SimdRealField> {
pub struct MotorParameters<N: WReal> {
pub stiffness: N,
pub damping: N,
pub gamma: N,
@@ -22,7 +21,7 @@ pub struct MotorParameters<N: SimdRealField> {
pub max_impulse: N,
}
impl<N: SimdRealField> Default for MotorParameters<N> {
impl<N: WReal> Default for MotorParameters<N> {
fn default() -> Self {
Self {
stiffness: N::zero(),
@@ -48,7 +47,7 @@ pub enum WritebackId {
// the solver, to avoid fetching data from the rigid-body set
// every time.
#[derive(Copy, Clone)]
pub struct SolverBody<N: SimdRealField, const LANES: usize> {
pub struct SolverBody<N: WReal, const LANES: usize> {
pub linvel: Vector<N>,
pub angvel: AngVector<N>,
pub im: Vector<N>,
@@ -58,7 +57,7 @@ pub struct SolverBody<N: SimdRealField, const LANES: usize> {
}
#[derive(Debug, Copy, Clone)]
pub struct JointVelocityConstraint<N: SimdRealField, const LANES: usize> {
pub struct JointVelocityConstraint<N: WReal, const LANES: usize> {
pub mj_lambda1: [usize; LANES],
pub mj_lambda2: [usize; LANES],
@@ -339,7 +338,7 @@ impl JointVelocityConstraint<SimdReal, SIMD_WIDTH> {
}
#[derive(Debug, Copy, Clone)]
pub struct JointVelocityGroundConstraint<N: SimdRealField, const LANES: usize> {
pub struct JointVelocityGroundConstraint<N: WReal, const LANES: usize> {
pub mj_lambda2: [usize; LANES],
pub joint_id: [JointIndex; LANES],

3
src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs
View File

@@ -7,10 +7,9 @@ use crate::dynamics::{IntegrationParameters, JointIndex};
use crate::math::{Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
use crate::utils::{IndexMut2, WCrossMatrix, WDot, WQuat, WReal};
use na::SMatrix;
use simba::simd::SimdRealField;
#[derive(Debug, Copy, Clone)]
pub struct JointVelocityConstraintBuilder<N: SimdRealField> {
pub struct JointVelocityConstraintBuilder<N: WReal> {
pub basis: Matrix<N>,
pub cmat1_basis: SMatrix<N, ANG_DIM, DIM>,
pub cmat2_basis: SMatrix<N, ANG_DIM, DIM>,