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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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20
src/dynamics/solver/position_ground_constraint.rs
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@@ -2,22 +2,22 @@ use super::AnyPositionConstraint;
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::ContactManifold;
use crate::math::{
AngularInertia, Isometry, Point, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS,
AngularInertia, Isometry, Point, Real, Rotation, Translation, Vector, MAX_MANIFOLD_POINTS,
};
use crate::utils::{WAngularInertia, WCross, WDot};
pub(crate) struct PositionGroundConstraint {
pub rb2: usize,
// NOTE: the points are relative to the center of masses.
pub p1: [Point<f32>; MAX_MANIFOLD_POINTS],
pub local_p2: [Point<f32>; MAX_MANIFOLD_POINTS],
pub dists: [f32; MAX_MANIFOLD_POINTS],
pub n1: Vector<f32>,
pub p1: [Point<Real>; MAX_MANIFOLD_POINTS],
pub local_p2: [Point<Real>; MAX_MANIFOLD_POINTS],
pub dists: [Real; MAX_MANIFOLD_POINTS],
pub n1: Vector<Real>,
pub num_contacts: u8,
pub im2: f32,
pub ii2: AngularInertia<f32>,
pub erp: f32,
pub max_linear_correction: f32,
pub im2: Real,
pub ii2: AngularInertia<Real>,
pub erp: Real,
pub max_linear_correction: Real,
}
impl PositionGroundConstraint {
@@ -79,7 +79,7 @@ impl PositionGroundConstraint {
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<f32>]) {
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
// FIXME: can we avoid most of the multiplications by pos1/pos2?
// Compute jacobians.
let mut pos2 = positions[self.rb2];