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

Add support of 64-bits reals.

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

38
src/dynamics/solver/joint_constraint/fixed_position_constraint.rs
View File

@@ -1,22 +1,22 @@
use crate::dynamics::{FixedJoint, IntegrationParameters, RigidBody};
use crate::math::{AngularInertia, Isometry, Point, Rotation};
use crate::math::{AngularInertia, Isometry, Point, Real, Rotation};
use crate::utils::WAngularInertia;
#[derive(Debug)]
pub(crate) struct FixedPositionConstraint {
position1: usize,
position2: usize,
local_anchor1: Isometry<f32>,
local_anchor2: Isometry<f32>,
local_com1: Point<f32>,
local_com2: Point<f32>,
im1: f32,
im2: f32,
ii1: AngularInertia<f32>,
ii2: AngularInertia<f32>,
local_anchor1: Isometry<Real>,
local_anchor2: Isometry<Real>,
local_com1: Point<Real>,
local_com2: Point<Real>,
im1: Real,
im2: Real,
ii1: AngularInertia<Real>,
ii2: AngularInertia<Real>,
lin_inv_lhs: f32,
ang_inv_lhs: AngularInertia<f32>,
lin_inv_lhs: Real,
ang_inv_lhs: AngularInertia<Real>,
}
impl FixedPositionConstraint {
@@ -44,7 +44,7 @@ impl FixedPositionConstraint {
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
let mut position1 = positions[self.position1 as usize];
let mut position2 = positions[self.position2 as usize];
@@ -81,12 +81,12 @@ impl FixedPositionConstraint {
#[derive(Debug)]
pub(crate) struct FixedPositionGroundConstraint {
position2: usize,
anchor1: Isometry<f32>,
local_anchor2: Isometry<f32>,
local_com2: Point<f32>,
im2: f32,
ii2: AngularInertia<f32>,
impulse: f32,
anchor1: Isometry<Real>,
local_anchor2: Isometry<Real>,
local_com2: Point<Real>,
im2: Real,
ii2: AngularInertia<Real>,
impulse: Real,
}
impl FixedPositionGroundConstraint {
@@ -118,7 +118,7 @@ impl FixedPositionGroundConstraint {
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
let mut position2 = positions[self.position2 as usize];
// Angular correction.