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Implement multibody joints and the new solver

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This commit is contained in:
Sébastien Crozet
2022-01-02 14:47:40 +01:00
parent b45d4b5ac2
commit f74b8401ad
182 changed files with 9871 additions and 12645 deletions
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107
src/dynamics/solver/joint_constraint/mod.rs
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@@ -1,102 +1,13 @@
pub(self) use ball_position_constraint::{BallPositionConstraint, BallPositionGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
pub(self) use ball_position_constraint_wide::{
WBallPositionConstraint, WBallPositionGroundConstraint,
};
pub(self) use ball_velocity_constraint::{BallVelocityConstraint, BallVelocityGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
pub(self) use ball_velocity_constraint_wide::{
WBallVelocityConstraint, WBallVelocityGroundConstraint,
};
pub(self) use fixed_position_constraint::{FixedPositionConstraint, FixedPositionGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
pub(self) use fixed_position_constraint_wide::{
WFixedPositionConstraint, WFixedPositionGroundConstraint,
};
pub(self) use fixed_velocity_constraint::{FixedVelocityConstraint, FixedVelocityGroundConstraint};
#[cfg(feature = "simd-is-enabled")]
pub(self) use fixed_velocity_constraint_wide::{
WFixedVelocityConstraint, WFixedVelocityGroundConstraint,
};
// pub(self) use generic_position_constraint::{
// GenericPositionConstraint, GenericPositionGroundConstraint,
// };
// #[cfg(feature = "simd-is-enabled")]
// pub(self) use generic_position_constraint_wide::{
// WGenericPositionConstraint, WGenericPositionGroundConstraint,
// };
// pub(self) use generic_velocity_constraint::{
// GenericVelocityConstraint, GenericVelocityGroundConstraint,
// };
// #[cfg(feature = "simd-is-enabled")]
// pub(self) use generic_velocity_constraint_wide::{
// WGenericVelocityConstraint, WGenericVelocityGroundConstraint,
// };
pub use joint_velocity_constraint::{MotorParameters, SolverBody, WritebackId};
pub(crate) use joint_constraint::AnyJointVelocityConstraint;
pub(crate) use joint_position_constraint::AnyJointPositionConstraint;
pub(self) use prismatic_position_constraint::{
PrismaticPositionConstraint, PrismaticPositionGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
pub(self) use prismatic_position_constraint_wide::{
WPrismaticPositionConstraint, WPrismaticPositionGroundConstraint,
};
pub(self) use prismatic_velocity_constraint::{
PrismaticVelocityConstraint, PrismaticVelocityGroundConstraint,
};
#[cfg(feature = "simd-is-enabled")]
pub(self) use prismatic_velocity_constraint_wide::{
WPrismaticVelocityConstraint, WPrismaticVelocityGroundConstraint,
};
#[cfg(feature = "dim3")]
pub(self) use revolute_position_constraint::{
RevolutePositionConstraint, RevolutePositionGroundConstraint,
};
#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
pub(self) use revolute_position_constraint_wide::{
WRevolutePositionConstraint, WRevolutePositionGroundConstraint,
};
#[cfg(feature = "dim3")]
pub(self) use revolute_velocity_constraint::{
RevoluteVelocityConstraint, RevoluteVelocityGroundConstraint,
};
#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
pub(self) use revolute_velocity_constraint_wide::{
WRevoluteVelocityConstraint, WRevoluteVelocityGroundConstraint,
pub use joint_constraint::AnyJointVelocityConstraint;
pub use joint_generic_velocity_constraint::{
JointGenericVelocityConstraint, JointGenericVelocityGroundConstraint,
};
pub use joint_velocity_constraint_builder::JointVelocityConstraintBuilder;
mod ball_position_constraint;
#[cfg(feature = "simd-is-enabled")]
mod ball_position_constraint_wide;
mod ball_velocity_constraint;
#[cfg(feature = "simd-is-enabled")]
mod ball_velocity_constraint_wide;
mod fixed_position_constraint;
#[cfg(feature = "simd-is-enabled")]
mod fixed_position_constraint_wide;
mod fixed_velocity_constraint;
#[cfg(feature = "simd-is-enabled")]
mod fixed_velocity_constraint_wide;
// mod generic_position_constraint;
// #[cfg(feature = "simd-is-enabled")]
// mod generic_position_constraint_wide;
// mod generic_velocity_constraint;
// #[cfg(feature = "simd-is-enabled")]
// mod generic_velocity_constraint_wide;
mod joint_constraint;
mod joint_position_constraint;
mod prismatic_position_constraint;
#[cfg(feature = "simd-is-enabled")]
mod prismatic_position_constraint_wide;
mod prismatic_velocity_constraint;
#[cfg(feature = "simd-is-enabled")]
mod prismatic_velocity_constraint_wide;
#[cfg(feature = "dim3")]
mod revolute_position_constraint;
#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
mod revolute_position_constraint_wide;
#[cfg(feature = "dim3")]
mod revolute_velocity_constraint;
#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
mod revolute_velocity_constraint_wide;
mod joint_generic_velocity_constraint;
mod joint_generic_velocity_constraint_builder;
mod joint_velocity_constraint;
mod joint_velocity_constraint_builder;