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feat: implement new "small-steps" solver + joint improvements

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This commit is contained in:
Sébastien Crozet
2024-01-21 21:02:23 +01:00
parent 9ac3503b87
commit 9b87f06a85
76 changed files with 6672 additions and 4305 deletions
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81
src/dynamics/solver/mod.rs
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@@ -1,56 +1,47 @@
#[cfg(not(feature = "parallel"))]
// #[cfg(not(feature = "parallel"))]
pub(crate) use self::island_solver::IslandSolver;
#[cfg(feature = "parallel")]
pub(crate) use self::parallel_island_solver::{ParallelIslandSolver, ThreadContext};
#[cfg(feature = "parallel")]
pub(self) use self::parallel_solver_constraints::ParallelSolverConstraints;
#[cfg(feature = "parallel")]
pub(self) use self::parallel_velocity_solver::ParallelVelocitySolver;
#[cfg(not(feature = "parallel"))]
pub(self) use self::solver_constraints::SolverConstraints;
#[cfg(not(feature = "parallel"))]
// #[cfg(feature = "parallel")]
// pub(crate) use self::parallel_island_solver::{ParallelIslandSolver, ThreadContext};
// #[cfg(feature = "parallel")]
// pub(self) use self::parallel_solver_constraints::ParallelSolverConstraints;
// #[cfg(feature = "parallel")]
// pub(self) use self::parallel_velocity_solver::ParallelVelocitySolver;
// #[cfg(not(feature = "parallel"))]
pub(self) use self::solver_constraints_set::SolverConstraintsSet;
// #[cfg(not(feature = "parallel"))]
pub(self) use self::velocity_solver::VelocitySolver;
pub(self) use delta_vel::DeltaVel;
pub(self) use generic_velocity_constraint::*;
pub(self) use generic_velocity_constraint_element::*;
pub(self) use generic_velocity_ground_constraint::*;
pub(self) use contact_constraint::*;
pub(self) use interaction_groups::*;
pub(crate) use joint_constraint::MotorParameters;
pub use joint_constraint::*;
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::*;
pub(self) use solver_body::SolverBody;
pub(self) use solver_constraints_set::{AnyConstraintMut, ConstraintTypes};
pub(self) use solver_vel::SolverVel;
mod categorization;
mod delta_vel;
mod generic_velocity_constraint;
mod generic_velocity_constraint_element;
mod generic_velocity_ground_constraint;
mod generic_velocity_ground_constraint_element;
mod contact_constraint;
mod interaction_groups;
#[cfg(not(feature = "parallel"))]
// #[cfg(not(feature = "parallel"))]
mod island_solver;
mod joint_constraint;
#[cfg(feature = "parallel")]
mod parallel_island_solver;
#[cfg(feature = "parallel")]
mod parallel_solver_constraints;
#[cfg(feature = "parallel")]
mod parallel_velocity_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"))]
// #[cfg(feature = "parallel")]
// mod parallel_island_solver;
// #[cfg(feature = "parallel")]
// mod parallel_solver_constraints;
// #[cfg(feature = "parallel")]
// mod parallel_velocity_solver;
mod solver_body;
// #[cfg(not(feature = "parallel"))]
mod solver_constraints_set;
mod solver_vel;
// #[cfg(not(feature = "parallel"))]
mod velocity_solver;
// TODO: SAFETY: restrict with bytemuck::AnyBitPattern to make this safe.
pub unsafe fn reset_buffer<T>(buffer: &mut Vec<T>, len: usize) {
buffer.clear();
buffer.reserve(len);
buffer.as_mut_ptr().write_bytes(u8::MAX, len);
buffer.set_len(len);
}