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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/velocity_ground_constraint.rs
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@@ -1,5 +1,5 @@
use super::{AnyVelocityConstraint, DeltaVel};
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 crate::dynamics::{IntegrationParameters, RigidBodySet};
@@ -8,10 +8,10 @@ use simba::simd::SimdPartialOrd;
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraintElementPart {
pub gcross2: AngVector<f32>,
pub rhs: f32,
pub impulse: f32,
pub r: f32,
pub gcross2: AngVector<Real>,
pub rhs: Real,
pub impulse: Real,
pub r: Real,
}
#[cfg(not(target_arch = "wasm32"))]
@@ -44,9 +44,9 @@ impl VelocityGroundConstraintElement {
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraint {
pub dir1: Vector<f32>, // Non-penetration force direction for the first body.
pub im2: f32,
pub limit: f32,
pub dir1: Vector<Real>, // Non-penetration force direction for the first body.
pub im2: Real,
pub limit: Real,
pub mj_lambda2: usize,
pub manifold_id: ContactManifoldIndex,
pub manifold_contact_id: usize,
@@ -207,7 +207,7 @@ impl VelocityGroundConstraint {
}
}
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) {
pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) {
let mut mj_lambda2 = DeltaVel::zero();
let tangents1 = self.dir1.orthonormal_basis();
@@ -227,7 +227,7 @@ impl VelocityGroundConstraint {
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_lambda2 = mj_lambdas[self.mj_lambda2 as usize];
// Solve friction.