feat: implement new "small-steps" solver + joint improvements

1 files changed, 29 insertions, 0 deletions

diff --git a/src/dynamics/solver/contact_constraint/mod.rs b/src/dynamics/solver/contact_constraint/mod.rs
new file mode 100644
index 0000000..09099dd
--- /dev/null
+++ b/src/dynamics/solver/contact_constraint/mod.rs
@@ -0,0 +1,29 @@
+pub(crate) use generic_one_body_constraint::*;
+// pub(crate) use generic_one_body_constraint_element::*;
+pub(crate) use contact_constraints_set::{
+    ConstraintsCounts, ContactConstraintTypes, ContactConstraintsSet,
+};
+pub(crate) use generic_two_body_constraint::*;
+pub(crate) use generic_two_body_constraint_element::*;
+pub(crate) use one_body_constraint::*;
+pub(crate) use one_body_constraint_element::*;
+#[cfg(feature = "simd-is-enabled")]
+pub(crate) use one_body_constraint_simd::*;
+pub(crate) use two_body_constraint::*;
+pub(crate) use two_body_constraint_element::*;
+#[cfg(feature = "simd-is-enabled")]
+pub(crate) use two_body_constraint_simd::*;
+
+mod contact_constraints_set;
+mod generic_one_body_constraint;
+mod generic_one_body_constraint_element;
+mod generic_two_body_constraint;
+mod generic_two_body_constraint_element;
+mod one_body_constraint;
+mod one_body_constraint_element;
+#[cfg(feature = "simd-is-enabled")]
+mod one_body_constraint_simd;
+mod two_body_constraint;
+mod two_body_constraint_element;
+#[cfg(feature = "simd-is-enabled")]
+mod two_body_constraint_simd;