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Complete the implementation of non-simd joint motor for the revolute joint.

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This commit is contained in:
Crozet Sébastien
2021-02-19 15:21:25 +01:00
parent a1ddda5077
commit e9f17f32e8
14 changed files with 483 additions and 343 deletions
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39
src/dynamics/solver/joint_constraint/joint_position_constraint.rs
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@@ -1,7 +1,6 @@
use super::{
BallPositionConstraint, BallPositionGroundConstraint, FixedPositionConstraint,
FixedPositionGroundConstraint, GenericPositionConstraint, GenericPositionGroundConstraint,
PrismaticPositionConstraint, PrismaticPositionGroundConstraint,
FixedPositionGroundConstraint, PrismaticPositionConstraint, PrismaticPositionGroundConstraint,
};
#[cfg(feature = "dim3")]
use super::{RevolutePositionConstraint, RevolutePositionGroundConstraint};
@@ -33,12 +32,12 @@ pub(crate) enum AnyJointPositionConstraint {
WFixedJoint(WFixedPositionConstraint),
#[cfg(feature = "simd-is-enabled")]
WFixedGroundConstraint(WFixedPositionGroundConstraint),
GenericJoint(GenericPositionConstraint),
GenericGroundConstraint(GenericPositionGroundConstraint),
#[cfg(feature = "simd-is-enabled")]
WGenericJoint(WGenericPositionConstraint),
#[cfg(feature = "simd-is-enabled")]
WGenericGroundConstraint(WGenericPositionGroundConstraint),
// GenericJoint(GenericPositionConstraint),
// GenericGroundConstraint(GenericPositionGroundConstraint),
// #[cfg(feature = "simd-is-enabled")]
// WGenericJoint(WGenericPositionConstraint),
// #[cfg(feature = "simd-is-enabled")]
// WGenericGroundConstraint(WGenericPositionGroundConstraint),
PrismaticJoint(PrismaticPositionConstraint),
PrismaticGroundConstraint(PrismaticPositionGroundConstraint),
#[cfg(feature = "simd-is-enabled")]
@@ -69,9 +68,9 @@ impl AnyJointPositionConstraint {
JointParams::FixedJoint(p) => AnyJointPositionConstraint::FixedJoint(
FixedPositionConstraint::from_params(rb1, rb2, p),
),
JointParams::GenericJoint(p) => AnyJointPositionConstraint::GenericJoint(
GenericPositionConstraint::from_params(rb1, rb2, p),
),
// JointParams::GenericJoint(p) => AnyJointPositionConstraint::GenericJoint(
// GenericPositionConstraint::from_params(rb1, rb2, p),
// ),
JointParams::PrismaticJoint(p) => AnyJointPositionConstraint::PrismaticJoint(
PrismaticPositionConstraint::from_params(rb1, rb2, p),
),
@@ -140,9 +139,9 @@ impl AnyJointPositionConstraint {
JointParams::FixedJoint(p) => AnyJointPositionConstraint::FixedGroundConstraint(
FixedPositionGroundConstraint::from_params(rb1, rb2, p, flipped),
),
JointParams::GenericJoint(p) => AnyJointPositionConstraint::GenericGroundConstraint(
GenericPositionGroundConstraint::from_params(rb1, rb2, p, flipped),
),
// JointParams::GenericJoint(p) => AnyJointPositionConstraint::GenericGroundConstraint(
// GenericPositionGroundConstraint::from_params(rb1, rb2, p, flipped),
// ),
JointParams::PrismaticJoint(p) => {
AnyJointPositionConstraint::PrismaticGroundConstraint(
PrismaticPositionGroundConstraint::from_params(rb1, rb2, p, flipped),
@@ -219,12 +218,12 @@ impl AnyJointPositionConstraint {
AnyJointPositionConstraint::WFixedJoint(c) => c.solve(params, positions),
#[cfg(feature = "simd-is-enabled")]
AnyJointPositionConstraint::WFixedGroundConstraint(c) => c.solve(params, positions),
AnyJointPositionConstraint::GenericJoint(c) => c.solve(params, positions),
AnyJointPositionConstraint::GenericGroundConstraint(c) => c.solve(params, positions),
#[cfg(feature = "simd-is-enabled")]
AnyJointPositionConstraint::WGenericJoint(c) => c.solve(params, positions),
#[cfg(feature = "simd-is-enabled")]
AnyJointPositionConstraint::WGenericGroundConstraint(c) => c.solve(params, positions),
// AnyJointPositionConstraint::GenericJoint(c) => c.solve(params, positions),
// AnyJointPositionConstraint::GenericGroundConstraint(c) => c.solve(params, positions),
// #[cfg(feature = "simd-is-enabled")]
// AnyJointPositionConstraint::WGenericJoint(c) => c.solve(params, positions),
// #[cfg(feature = "simd-is-enabled")]
// AnyJointPositionConstraint::WGenericGroundConstraint(c) => c.solve(params, positions),
AnyJointPositionConstraint::PrismaticJoint(c) => c.solve(params, positions),
AnyJointPositionConstraint::PrismaticGroundConstraint(c) => c.solve(params, positions),
#[cfg(feature = "simd-is-enabled")]