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Add prelude + use vectors for setting linvel/translation in builders

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Crozet Sébastien
2021-05-25 11:00:13 +02:00
parent 47139323e0
commit 1bef66fea9
93 changed files with 1528 additions and 1259 deletions
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24
src/dynamics/solver/joint_constraint/fixed_velocity_constraint_wide.rs
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@@ -91,12 +91,12 @@ impl WFixedVelocityConstraint {
]);
let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
let local_anchor1 = Isometry::from(gather![|ii| cparams[ii].local_anchor1]);
let local_anchor2 = Isometry::from(gather![|ii| cparams[ii].local_anchor2]);
let local_frame1 = Isometry::from(gather![|ii| cparams[ii].local_frame1]);
let local_frame2 = Isometry::from(gather![|ii| cparams[ii].local_frame2]);
let impulse = SpacialVector::from(gather![|ii| cparams[ii].impulse]);
let anchor1 = position1 * local_anchor1;
let anchor2 = position2 * local_anchor2;
let anchor1 = position1 * local_frame1;
let anchor2 = position2 * local_frame2;
let ii1 = ii1_sqrt.squared();
let ii2 = ii2_sqrt.squared();
let r1 = anchor1.translation.vector - world_com1.coords;
@@ -363,20 +363,20 @@ impl WFixedVelocityGroundConstraint {
]);
let mj_lambda2 = gather![|ii| ids2[ii].active_set_offset];
let local_anchor1 = Isometry::from(gather![|ii| if flipped[ii] {
cparams[ii].local_anchor2
let local_frame1 = Isometry::from(gather![|ii| if flipped[ii] {
cparams[ii].local_frame2
} else {
cparams[ii].local_anchor1
cparams[ii].local_frame1
}]);
let local_anchor2 = Isometry::from(gather![|ii| if flipped[ii] {
cparams[ii].local_anchor1
let local_frame2 = Isometry::from(gather![|ii| if flipped[ii] {
cparams[ii].local_frame1
} else {
cparams[ii].local_anchor2
cparams[ii].local_frame2
}]);
let impulse = SpacialVector::from(gather![|ii| cparams[ii].impulse]);
let anchor1 = position1 * local_anchor1;
let anchor2 = position2 * local_anchor2;
let anchor1 = position1 * local_frame1;
let anchor2 = position2 * local_frame2;
let ii2 = ii2_sqrt.squared();
let r1 = anchor1.translation.vector - world_com1.coords;
let r2 = anchor2.translation.vector - world_com2.coords;