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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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28
src/dynamics/solver/velocity_constraint.rs
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@@ -4,7 +4,7 @@ use crate::dynamics::solver::VelocityGroundConstraint;
use crate::dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, RigidBodySet};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{AngVector, Vector, DIM, MAX_MANIFOLD_POINTS};
use crate::math::{AngVector, Real, Vector, DIM, MAX_MANIFOLD_POINTS};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
use simba::simd::SimdPartialOrd;
@@ -40,7 +40,7 @@ impl AnyVelocityConstraint {
}
}
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
match self {
AnyVelocityConstraint::NongroupedGround(c) => c.warmstart(mj_lambdas),
AnyVelocityConstraint::Nongrouped(c) => c.warmstart(mj_lambdas),
@@ -52,7 +52,7 @@ impl AnyVelocityConstraint {
}
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
match self {
AnyVelocityConstraint::NongroupedGround(c) => c.solve(mj_lambdas),
AnyVelocityConstraint::Nongrouped(c) => c.solve(mj_lambdas),
@@ -79,11 +79,11 @@ impl AnyVelocityConstraint {
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintElementPart {
pub gcross1: AngVector<f32>,
pub gcross2: AngVector<f32>,
pub rhs: f32,
pub impulse: f32,
pub r: f32,
pub gcross1: AngVector<Real>,
pub gcross2: AngVector<Real>,
pub rhs: Real,
pub impulse: Real,
pub r: Real,
}
#[cfg(not(target_arch = "wasm32"))]
@@ -117,10 +117,10 @@ impl VelocityConstraintElement {
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraint {
pub dir1: Vector<f32>, // Non-penetration force direction for the first body.
pub im1: f32,
pub im2: f32,
pub limit: f32,
pub dir1: Vector<Real>, // Non-penetration force direction for the first body.
pub im1: Real,
pub im2: Real,
pub limit: Real,
pub mj_lambda1: usize,
pub mj_lambda2: usize,
pub manifold_id: ContactManifoldIndex,
@@ -300,7 +300,7 @@ impl VelocityConstraint {
}
}
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda1 = DeltaVel::zero();
let mut mj_lambda2 = DeltaVel::zero();
@@ -331,7 +331,7 @@ impl VelocityConstraint {
mj_lambdas[self.mj_lambda2 as usize].angular += mj_lambda2.angular;
}
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda1 = mj_lambdas[self.mj_lambda1 as usize];
let mut mj_lambda2 = mj_lambdas[self.mj_lambda2 as usize];