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

Update dependencies

Browse Source
This commit is contained in:
Sébastien Crozet
2023-01-15 11:59:15 +01:00
parent 56aa0f5e73
commit 9b5ccb95e7
19 changed files with 116 additions and 107 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs
View File

@@ -4,7 +4,7 @@ use crate::dynamics::solver::DeltaVel;
use crate::dynamics::{GenericJoint, IntegrationParameters, JointGraphEdge, JointIndex, Multibody};
use crate::math::{Isometry, Real, DIM};
use crate::prelude::SPATIAL_DIM;
use na::{DVector, DVectorSlice, DVectorSliceMut};
use na::{DVector, DVectorView, DVectorViewMut};
#[derive(Debug, Copy, Clone)]
pub struct JointGenericVelocityConstraint {
@@ -222,7 +222,7 @@ impl JointGenericVelocityConstraint {
&self,
mj_lambdas: &'a [DeltaVel<Real>],
generic_mj_lambdas: &'a DVector<Real>,
) -> DVectorSlice<'a, Real> {
) -> DVectorView<'a, Real> {
if self.is_rigid_body1 {
mj_lambdas[self.mj_lambda1].as_vector_slice()
} else {
@@ -234,7 +234,7 @@ impl JointGenericVelocityConstraint {
&self,
mj_lambdas: &'a mut [DeltaVel<Real>],
generic_mj_lambdas: &'a mut DVector<Real>,
) -> DVectorSliceMut<'a, Real> {
) -> DVectorViewMut<'a, Real> {
if self.is_rigid_body1 {
mj_lambdas[self.mj_lambda1].as_vector_slice_mut()
} else {
@@ -246,7 +246,7 @@ impl JointGenericVelocityConstraint {
&self,
mj_lambdas: &'a [DeltaVel<Real>],
generic_mj_lambdas: &'a DVector<Real>,
) -> DVectorSlice<'a, Real> {
) -> DVectorView<'a, Real> {
if self.is_rigid_body2 {
mj_lambdas[self.mj_lambda2].as_vector_slice()
} else {
@@ -258,7 +258,7 @@ impl JointGenericVelocityConstraint {
&self,
mj_lambdas: &'a mut [DeltaVel<Real>],
generic_mj_lambdas: &'a mut DVector<Real>,
) -> DVectorSliceMut<'a, Real> {
) -> DVectorViewMut<'a, Real> {
if self.is_rigid_body2 {
mj_lambdas[self.mj_lambda2].as_vector_slice_mut()
} else {
@@ -275,11 +275,11 @@ impl JointGenericVelocityConstraint {
let jacobians = jacobians.as_slice();
let mj_lambda1 = self.mj_lambda1(mj_lambdas, generic_mj_lambdas);
let j1 = DVectorSlice::from_slice(&jacobians[self.j_id1..], self.ndofs1);
let j1 = DVectorView::from_slice(&jacobians[self.j_id1..], self.ndofs1);
let vel1 = j1.dot(&mj_lambda1);
let mj_lambda2 = self.mj_lambda2(mj_lambdas, generic_mj_lambdas);
let j2 = DVectorSlice::from_slice(&jacobians[self.j_id2..], self.ndofs2);
let j2 = DVectorView::from_slice(&jacobians[self.j_id2..], self.ndofs2);
let vel2 = j2.dot(&mj_lambda2);
let dvel = self.rhs + (vel2 - vel1);
@@ -292,11 +292,11 @@ impl JointGenericVelocityConstraint {
self.impulse = total_impulse;
let mut mj_lambda1 = self.mj_lambda1_mut(mj_lambdas, generic_mj_lambdas);
let wj1 = DVectorSlice::from_slice(&jacobians[self.wj_id1()..], self.ndofs1);
let wj1 = DVectorView::from_slice(&jacobians[self.wj_id1()..], self.ndofs1);
mj_lambda1.axpy(delta_impulse, &wj1, 1.0);
let mut mj_lambda2 = self.mj_lambda2_mut(mj_lambdas, generic_mj_lambdas);
let wj2 = DVectorSlice::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
let wj2 = DVectorView::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
mj_lambda2.axpy(-delta_impulse, &wj2, 1.0);
}
@@ -506,7 +506,7 @@ impl JointGenericVelocityGroundConstraint {
&self,
_mj_lambdas: &'a [DeltaVel<Real>],
generic_mj_lambdas: &'a DVector<Real>,
) -> DVectorSlice<'a, Real> {
) -> DVectorView<'a, Real> {
generic_mj_lambdas.rows(self.mj_lambda2, self.ndofs2)
}
@@ -514,7 +514,7 @@ impl JointGenericVelocityGroundConstraint {
&self,
_mj_lambdas: &'a mut [DeltaVel<Real>],
generic_mj_lambdas: &'a mut DVector<Real>,
) -> DVectorSliceMut<'a, Real> {
) -> DVectorViewMut<'a, Real> {
generic_mj_lambdas.rows_mut(self.mj_lambda2, self.ndofs2)
}
@@ -527,7 +527,7 @@ impl JointGenericVelocityGroundConstraint {
let jacobians = jacobians.as_slice();
let mj_lambda2 = self.mj_lambda2(mj_lambdas, generic_mj_lambdas);
let j2 = DVectorSlice::from_slice(&jacobians[self.j_id2..], self.ndofs2);
let j2 = DVectorView::from_slice(&jacobians[self.j_id2..], self.ndofs2);
let vel2 = j2.dot(&mj_lambda2);
let dvel = self.rhs + vel2;
@@ -540,7 +540,7 @@ impl JointGenericVelocityGroundConstraint {
self.impulse = total_impulse;
let mut mj_lambda2 = self.mj_lambda2_mut(mj_lambdas, generic_mj_lambdas);
let wj2 = DVectorSlice::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
let wj2 = DVectorView::from_slice(&jacobians[self.wj_id2()..], self.ndofs2);
mj_lambda2.axpy(-delta_impulse, &wj2, 1.0);
}