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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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5
src/dynamics/solver/joint_constraint/joint_constraint.rs
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@@ -17,6 +17,7 @@ use crate::dynamics::solver::DeltaVel;
use crate::dynamics::{
IntegrationParameters, Joint, JointGraphEdge, JointIndex, JointParams, RigidBodySet,
};
use crate::math::Real;
#[cfg(feature = "simd-is-enabled")]
use crate::math::SIMD_WIDTH;
@@ -220,7 +221,7 @@ impl AnyJointVelocityConstraint {
}
}
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
match self {
AnyJointVelocityConstraint::BallConstraint(c) => c.warmstart(mj_lambdas),
AnyJointVelocityConstraint::BallGroundConstraint(c) => c.warmstart(mj_lambdas),
@@ -254,7 +255,7 @@ impl AnyJointVelocityConstraint {
}
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
match self {
AnyJointVelocityConstraint::BallConstraint(c) => c.solve(mj_lambdas),
AnyJointVelocityConstraint::BallGroundConstraint(c) => c.solve(mj_lambdas),