nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

feat: add warmstarting to contact constraints resolution

Browse Source
This commit is contained in:
Sébastien Crozet
2024-04-21 18:55:11 +02:00
committed by Sébastien Crozet
parent da79d6fb5b
commit f58b4f7c19
32 changed files with 1540 additions and 342 deletions
Download Patch File Download Diff File Expand all files Collapse all files

6
src/lib.rs
View File

@@ -166,6 +166,9 @@ pub mod math {
#[cfg(feature = "dim2")]
pub type JacobianViewMut<'a, N> = na::MatrixViewMut3xX<'a, N>;
#[cfg(feature = "dim2")]
pub type TangentImpulse<N> = na::Vector1<N>;
/// The maximum number of possible rotations and translations of a rigid body.
#[cfg(feature = "dim2")]
pub const SPATIAL_DIM: usize = 3;
@@ -195,6 +198,9 @@ pub mod math {
#[cfg(feature = "dim3")]
pub type JacobianViewMut<'a, N> = na::MatrixViewMut6xX<'a, N>;
#[cfg(feature = "dim3")]
pub type TangentImpulse<N> = na::Vector2<N>;
/// The maximum number of possible rotations and translations of a rigid body.
#[cfg(feature = "dim3")]
pub const SPATIAL_DIM: usize = 6;