nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

First round deleting the component sets.

Browse Source
This commit is contained in:
Sébastien Crozet
2022-04-19 18:57:40 +02:00
committed by Sébastien Crozet
parent ee679427cd
commit 2b1374c596
36 changed files with 722 additions and 1649 deletions
Download Patch File Download Diff File Expand all files Collapse all files

49
src/dynamics/solver/joint_constraint/joint_constraint.rs
View File

@@ -1,4 +1,3 @@
use crate::data::{BundleSet, ComponentSet};
use crate::dynamics::solver::joint_constraint::joint_generic_velocity_constraint::{
JointGenericVelocityConstraint, JointGenericVelocityGroundConstraint,
};
@@ -8,7 +7,7 @@ use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
use crate::dynamics::solver::DeltaVel;
use crate::dynamics::{
ImpulseJoint, IntegrationParameters, JointGraphEdge, JointIndex, RigidBodyIds,
RigidBodyMassProps, RigidBodyPosition, RigidBodyType, RigidBodyVelocity,
RigidBodyMassProps, RigidBodyPosition, RigidBodySet, RigidBodyType, RigidBodyVelocity,
};
use crate::math::{Real, SPATIAL_DIM};
use crate::prelude::MultibodyJointSet;
@@ -51,22 +50,17 @@ impl AnyJointVelocityConstraint {
(num_constraints, num_constraints)
}
pub fn from_joint<Bodies>(
pub fn from_joint(
params: &IntegrationParameters,
joint_id: JointIndex,
joint: &ImpulseJoint,
bodies: &Bodies,
bodies: &RigidBodySet,
multibodies: &MultibodyJointSet,
j_id: &mut usize,
jacobians: &mut DVector<Real>,
out: &mut Vec<Self>,
insert_at: Option<usize>,
) where
Bodies: ComponentSet<RigidBodyPosition>
+ ComponentSet<RigidBodyVelocity>
+ ComponentSet<RigidBodyMassProps>
+ ComponentSet<RigidBodyIds>,
{
) {
let local_frame1 = joint.data.local_frame1;
let local_frame2 = joint.data.local_frame2;
let rb1: (
@@ -184,19 +178,14 @@ impl AnyJointVelocityConstraint {
}
#[cfg(feature = "simd-is-enabled")]
pub fn from_wide_joint<Bodies>(
pub fn from_wide_joint(
params: &IntegrationParameters,
joint_id: [JointIndex; SIMD_WIDTH],
impulse_joints: [&ImpulseJoint; SIMD_WIDTH],
bodies: &Bodies,
bodies: &RigidBodySet,
out: &mut Vec<Self>,
insert_at: Option<usize>,
) where
Bodies: ComponentSet<RigidBodyPosition>
+ ComponentSet<RigidBodyVelocity>
+ ComponentSet<RigidBodyMassProps>
+ ComponentSet<RigidBodyIds>,
{
) {
let rbs1: (
[&RigidBodyPosition; SIMD_WIDTH],
[&RigidBodyVelocity; SIMD_WIDTH],
@@ -274,23 +263,17 @@ impl AnyJointVelocityConstraint {
}
}
pub fn from_joint_ground<Bodies>(
pub fn from_joint_ground(
params: &IntegrationParameters,
joint_id: JointIndex,
joint: &ImpulseJoint,
bodies: &Bodies,
bodies: &RigidBodySet,
multibodies: &MultibodyJointSet,
j_id: &mut usize,
jacobians: &mut DVector<Real>,
out: &mut Vec<Self>,
insert_at: Option<usize>,
) where
Bodies: ComponentSet<RigidBodyPosition>
+ ComponentSet<RigidBodyType>
+ ComponentSet<RigidBodyVelocity>
+ ComponentSet<RigidBodyMassProps>
+ ComponentSet<RigidBodyIds>,
{
) {
let mut handle1 = joint.body1;
let mut handle2 = joint.body2;
let status2: &RigidBodyType = bodies.index(handle2.0);
@@ -408,20 +391,14 @@ impl AnyJointVelocityConstraint {
}
#[cfg(feature = "simd-is-enabled")]
pub fn from_wide_joint_ground<Bodies>(
pub fn from_wide_joint_ground(
params: &IntegrationParameters,
joint_id: [JointIndex; SIMD_WIDTH],
impulse_joints: [&ImpulseJoint; SIMD_WIDTH],
bodies: &Bodies,
bodies: &RigidBodySet,
out: &mut Vec<Self>,
insert_at: Option<usize>,
) where
Bodies: ComponentSet<RigidBodyPosition>
+ ComponentSet<RigidBodyType>
+ ComponentSet<RigidBodyVelocity>
+ ComponentSet<RigidBodyMassProps>
+ ComponentSet<RigidBodyIds>,
{
) {
let mut handles1 = gather![|ii| impulse_joints[ii].body1];
let mut handles2 = gather![|ii| impulse_joints[ii].body2];
let status2: [&RigidBodyType; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)];