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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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27
src/dynamics/solver/mod.rs
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@@ -3,26 +3,19 @@ pub(crate) use self::island_solver::IslandSolver;
#[cfg(feature = "parallel")]
pub(crate) use self::parallel_island_solver::{ParallelIslandSolver, ThreadContext};
#[cfg(feature = "parallel")]
pub(self) use self::parallel_position_solver::ParallelPositionSolver;
#[cfg(feature = "parallel")]
pub(self) use self::parallel_solver_constraints::ParallelSolverConstraints;
#[cfg(feature = "parallel")]
pub(self) use self::parallel_velocity_solver::ParallelVelocitySolver;
#[cfg(not(feature = "parallel"))]
pub(self) use self::position_solver::PositionSolver;
#[cfg(not(feature = "parallel"))]
pub(self) use self::solver_constraints::SolverConstraints;
#[cfg(not(feature = "parallel"))]
pub(self) use self::velocity_solver::VelocitySolver;
pub(self) use delta_vel::DeltaVel;
pub(self) use generic_velocity_constraint::*;
pub(self) use generic_velocity_constraint_element::*;
pub(self) use interaction_groups::*;
pub(self) use joint_constraint::*;
pub(self) use position_constraint::*;
#[cfg(feature = "simd-is-enabled")]
pub(self) use position_constraint_wide::*;
pub(self) use position_ground_constraint::*;
#[cfg(feature = "simd-is-enabled")]
pub(self) use position_ground_constraint_wide::*;
pub(crate) use joint_constraint::MotorParameters;
pub use joint_constraint::*;
pub(self) use velocity_constraint::*;
pub(self) use velocity_constraint_element::*;
#[cfg(feature = "simd-is-enabled")]
@@ -34,6 +27,8 @@ pub(self) use velocity_ground_constraint_wide::*;
mod categorization;
mod delta_vel;
mod generic_velocity_constraint;
mod generic_velocity_constraint_element;
mod interaction_groups;
#[cfg(not(feature = "parallel"))]
mod island_solver;
@@ -41,19 +36,9 @@ mod joint_constraint;
#[cfg(feature = "parallel")]
mod parallel_island_solver;
#[cfg(feature = "parallel")]
mod parallel_position_solver;
#[cfg(feature = "parallel")]
mod parallel_solver_constraints;
#[cfg(feature = "parallel")]
mod parallel_velocity_solver;
mod position_constraint;
#[cfg(feature = "simd-is-enabled")]
mod position_constraint_wide;
mod position_ground_constraint;
#[cfg(feature = "simd-is-enabled")]
mod position_ground_constraint_wide;
#[cfg(not(feature = "parallel"))]
mod position_solver;
#[cfg(not(feature = "parallel"))]
mod solver_constraints;
mod velocity_constraint;