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Add support of 64-bits reals.

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This commit is contained in:
Crozet Sébastien
2021-01-04 15:14:25 +01:00
parent a1aa8855f7
commit aa61fe65e3
55 changed files with 656 additions and 518 deletions
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16
src/dynamics/joint/ball_joint.rs
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@@ -1,29 +1,29 @@
use crate::math::{Point, Vector};
use crate::math::{Point, Real, Vector};
#[derive(Copy, Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
/// A joint that removes all relative linear motion between a pair of points on two bodies.
pub struct BallJoint {
/// Where the ball joint is attached on the first body, expressed in the first body local frame.
pub local_anchor1: Point<f32>,
pub local_anchor1: Point<Real>,
/// Where the ball joint is attached on the first body, expressed in the first body local frame.
pub local_anchor2: Point<f32>,
pub local_anchor2: Point<Real>,
/// The impulse applied by this joint on the first body.
///
/// The impulse applied to the second body is given by `-impulse`.
pub impulse: Vector<f32>,
pub impulse: Vector<Real>,
}
impl BallJoint {
/// Creates a new Ball joint from two anchors given on the local spaces of the respective bodies.
pub fn new(local_anchor1: Point<f32>, local_anchor2: Point<f32>) -> Self {
pub fn new(local_anchor1: Point<Real>, local_anchor2: Point<Real>) -> Self {
Self::with_impulse(local_anchor1, local_anchor2, Vector::zeros())
}
pub(crate) fn with_impulse(
local_anchor1: Point<f32>,
local_anchor2: Point<f32>,
impulse: Vector<f32>,
local_anchor1: Point<Real>,
local_anchor2: Point<Real>,
impulse: Vector<Real>,
) -> Self {
Self {
local_anchor1,

10
src/dynamics/joint/fixed_joint.rs
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@@ -1,4 +1,4 @@
use crate::math::{Isometry, SpacialVector};
use crate::math::{Isometry, Real, SpacialVector};
#[derive(Copy, Clone)]
#[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
@@ -8,22 +8,22 @@ use crate::math::{Isometry, SpacialVector};
pub struct FixedJoint {
/// The frame of reference for the first body affected by this joint, expressed in the local frame
/// of the first body.
pub local_anchor1: Isometry<f32>,
pub local_anchor1: Isometry<Real>,
/// The frame of reference for the second body affected by this joint, expressed in the local frame
/// of the first body.
pub local_anchor2: Isometry<f32>,
pub local_anchor2: Isometry<Real>,
/// The impulse applied to the first body affected by this joint.
///
/// The impulse applied to the second body affected by this joint is given by `-impulse`.
/// This combines both linear and angular impulses:
/// - In 2D, `impulse.xy()` gives the linear impulse, and `impulse.z` the angular impulse.
/// - In 3D, `impulse.xyz()` gives the linear impulse, and `(impulse[3], impulse[4], impulse[5])` the angular impulse.
pub impulse: SpacialVector<f32>,
pub impulse: SpacialVector<Real>,
}
impl FixedJoint {
/// Creates a new fixed joint from the frames of reference of both bodies.
pub fn new(local_anchor1: Isometry<f32>, local_anchor2: Isometry<f32>) -> Self {
pub fn new(local_anchor1: Isometry<Real>, local_anchor2: Isometry<Real>) -> Self {
Self {
local_anchor1,
local_anchor2,

68
src/dynamics/joint/prismatic_joint.rs
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@@ -1,4 +1,4 @@
use crate::math::{Isometry, Point, Vector, DIM};
use crate::math::{Isometry, Point, Real, Vector, DIM};
use crate::utils::WBasis;
use na::Unit;
#[cfg(feature = "dim2")]
@@ -11,35 +11,35 @@ use na::Vector5;
/// A joint that removes all relative motion between two bodies, except for the translations along one axis.
pub struct PrismaticJoint {
/// Where the prismatic joint is attached on the first body, expressed in the local space of the first attached body.
pub local_anchor1: Point<f32>,
pub local_anchor1: Point<Real>,
/// Where the prismatic joint is attached on the second body, expressed in the local space of the second attached body.
pub local_anchor2: Point<f32>,
pub(crate) local_axis1: Unit<Vector<f32>>,
pub(crate) local_axis2: Unit<Vector<f32>>,
pub(crate) basis1: [Vector<f32>; DIM - 1],
pub(crate) basis2: [Vector<f32>; DIM - 1],
pub local_anchor2: Point<Real>,
pub(crate) local_axis1: Unit<Vector<Real>>,
pub(crate) local_axis2: Unit<Vector<Real>>,
pub(crate) basis1: [Vector<Real>; DIM - 1],
pub(crate) basis2: [Vector<Real>; DIM - 1],
/// The impulse applied by this joint on the first body.
///
/// The impulse applied to the second body is given by `-impulse`.
#[cfg(feature = "dim3")]
pub impulse: Vector5<f32>,
pub impulse: Vector5<Real>,
/// The impulse applied by this joint on the first body.
///
/// The impulse applied to the second body is given by `-impulse`.
#[cfg(feature = "dim2")]
pub impulse: Vector2<f32>,
pub impulse: Vector2<Real>,
/// Whether or not this joint should enforce translational limits along its axis.
pub limits_enabled: bool,
/// The min an max relative position of the attached bodies along this joint's axis.
pub limits: [f32; 2],
pub limits: [Real; 2],
/// The impulse applied by this joint on the first body to enforce the position limit along this joint's axis.
///
/// The impulse applied to the second body is given by `-impulse`.
pub limits_impulse: f32,
pub limits_impulse: Real,
// pub motor_enabled: bool,
// pub target_motor_vel: f32,
// pub max_motor_impulse: f32,
// pub motor_impulse: f32,
// pub target_motor_vel: Real,
// pub max_motor_impulse: Real,
// pub motor_impulse: Real,
}
impl PrismaticJoint {
@@ -47,10 +47,10 @@ impl PrismaticJoint {
/// in the local-space of the affected bodies.
#[cfg(feature = "dim2")]
pub fn new(
local_anchor1: Point<f32>,
local_axis1: Unit<Vector<f32>>,
local_anchor2: Point<f32>,
local_axis2: Unit<Vector<f32>>,
local_anchor1: Point<Real>,
local_axis1: Unit<Vector<Real>>,
local_anchor2: Point<Real>,
local_axis2: Unit<Vector<Real>>,
) -> Self {
Self {
local_anchor1,
@@ -61,11 +61,11 @@ impl PrismaticJoint {
basis2: local_axis2.orthonormal_basis(),
impulse: na::zero(),
limits_enabled: false,
limits: [-f32::MAX, f32::MAX],
limits: [-Real::MAX, Real::MAX],
limits_impulse: 0.0,
// motor_enabled: false,
// target_motor_vel: 0.0,
// max_motor_impulse: f32::MAX,
// max_motor_impulse: Real::MAX,
// motor_impulse: 0.0,
}
}
@@ -78,12 +78,12 @@ impl PrismaticJoint {
/// computed arbitrarily.
#[cfg(feature = "dim3")]
pub fn new(
local_anchor1: Point<f32>,
local_axis1: Unit<Vector<f32>>,
local_tangent1: Vector<f32>,
local_anchor2: Point<f32>,
local_axis2: Unit<Vector<f32>>,
local_tangent2: Vector<f32>,
local_anchor1: Point<Real>,
local_axis1: Unit<Vector<Real>>,
local_tangent1: Vector<Real>,
local_anchor2: Point<Real>,
local_axis2: Unit<Vector<Real>>,
local_tangent2: Vector<Real>,
) -> Self {
let basis1 = if let Some(local_bitangent1) =
Unit::try_new(local_axis1.cross(&local_tangent1), 1.0e-3)
@@ -116,28 +116,28 @@ impl PrismaticJoint {
basis2,
impulse: na::zero(),
limits_enabled: false,
limits: [-f32::MAX, f32::MAX],
limits: [-Real::MAX, Real::MAX],
limits_impulse: 0.0,
// motor_enabled: false,
// target_motor_vel: 0.0,
// max_motor_impulse: f32::MAX,
// max_motor_impulse: Real::MAX,
// motor_impulse: 0.0,
}
}
/// The local axis of this joint, expressed in the local-space of the first attached body.
pub fn local_axis1(&self) -> Unit<Vector<f32>> {
pub fn local_axis1(&self) -> Unit<Vector<Real>> {
self.local_axis1
}
/// The local axis of this joint, expressed in the local-space of the second attached body.
pub fn local_axis2(&self) -> Unit<Vector<f32>> {
pub fn local_axis2(&self) -> Unit<Vector<Real>> {
self.local_axis2
}
// FIXME: precompute this?
#[cfg(feature = "dim2")]
pub(crate) fn local_frame1(&self) -> Isometry<f32> {
pub(crate) fn local_frame1(&self) -> Isometry<Real> {
use na::{Matrix2, Rotation2, UnitComplex};
let mat = Matrix2::from_columns(&[self.local_axis1.into_inner(), self.basis1[0]]);
@@ -149,7 +149,7 @@ impl PrismaticJoint {
// FIXME: precompute this?
#[cfg(feature = "dim2")]
pub(crate) fn local_frame2(&self) -> Isometry<f32> {
pub(crate) fn local_frame2(&self) -> Isometry<Real> {
use na::{Matrix2, Rotation2, UnitComplex};
let mat = Matrix2::from_columns(&[self.local_axis2.into_inner(), self.basis2[0]]);
@@ -161,7 +161,7 @@ impl PrismaticJoint {
// FIXME: precompute this?
#[cfg(feature = "dim3")]
pub(crate) fn local_frame1(&self) -> Isometry<f32> {
pub(crate) fn local_frame1(&self) -> Isometry<Real> {
use na::{Matrix3, Rotation3, UnitQuaternion};
let mat = Matrix3::from_columns(&[
@@ -177,7 +177,7 @@ impl PrismaticJoint {
// FIXME: precompute this?
#[cfg(feature = "dim3")]
pub(crate) fn local_frame2(&self) -> Isometry<f32> {
pub(crate) fn local_frame2(&self) -> Isometry<Real> {
use na::{Matrix3, Rotation3, UnitQuaternion};
let mat = Matrix3::from_columns(&[

24
src/dynamics/joint/revolute_joint.rs
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@@ -1,4 +1,4 @@
use crate::math::{Point, Vector};
use crate::math::{Point, Real, Vector};
use crate::utils::WBasis;
use na::{Unit, Vector5};
@@ -7,31 +7,31 @@ use na::{Unit, Vector5};
/// A joint that removes all relative motion between two bodies, except for the rotations along one axis.
pub struct RevoluteJoint {
/// Where the revolute joint is attached on the first body, expressed in the local space of the first attached body.
pub local_anchor1: Point<f32>,
pub local_anchor1: Point<Real>,
/// Where the revolute joint is attached on the second body, expressed in the local space of the second attached body.
pub local_anchor2: Point<f32>,
pub local_anchor2: Point<Real>,
/// The rotation axis of this revolute joint expressed in the local space of the first attached body.
pub local_axis1: Unit<Vector<f32>>,
pub local_axis1: Unit<Vector<Real>>,
/// The rotation axis of this revolute joint expressed in the local space of the second attached body.
pub local_axis2: Unit<Vector<f32>>,
pub local_axis2: Unit<Vector<Real>>,
/// The basis orthonormal to `local_axis1`, expressed in the local space of the first attached body.
pub basis1: [Vector<f32>; 2],
pub basis1: [Vector<Real>; 2],
/// The basis orthonormal to `local_axis2`, expressed in the local space of the second attached body.
pub basis2: [Vector<f32>; 2],
pub basis2: [Vector<Real>; 2],
/// The impulse applied by this joint on the first body.
///
/// The impulse applied to the second body is given by `-impulse`.
pub impulse: Vector5<f32>,
pub impulse: Vector5<Real>,
}
impl RevoluteJoint {
/// Creates a new revolute joint with the given point of applications and axis, all expressed
/// in the local-space of the affected bodies.
pub fn new(
local_anchor1: Point<f32>,
local_axis1: Unit<Vector<f32>>,
local_anchor2: Point<f32>,
local_axis2: Unit<Vector<f32>>,
local_anchor1: Point<Real>,
local_axis1: Unit<Vector<Real>>,
local_anchor2: Point<Real>,
local_axis2: Unit<Vector<Real>>,
) -> Self {
Self {
local_anchor1,