Merge pull request #267 from dimforge/multibody

Implement multibody joints, and new velocity-based constraints solver

1 files changed, 0 insertions, 60 deletions

diff --git a/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs b/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs
deleted file mode 100644
index d44c761..0000000
--- a/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs
+++ /dev/null
@@ -1,60 +0,0 @@
-use super::{GenericPositionConstraint, GenericPositionGroundConstraint};
-use crate::dynamics::{GenericJoint, IntegrationParameters, RigidBody};
-use crate::math::{Isometry, Real, SIMD_WIDTH};
-
-// TODO: this does not uses SIMD optimizations yet.
-#[derive(Debug)]
-pub(crate) struct WGenericPositionConstraint {
-    constraints: [GenericPositionConstraint; SIMD_WIDTH],
-}
-
-impl WGenericPositionConstraint {
-    pub fn from_params(
-        rbs1: [&RigidBody; SIMD_WIDTH],
-        rbs2: [&RigidBody; SIMD_WIDTH],
-        cparams: [&GenericJoint; SIMD_WIDTH],
-    ) -> Self {
-        Self {
-            constraints: gather![|ii| GenericPositionConstraint::from_params(
-                rbs1[ii],
-                rbs2[ii],
-                cparams[ii]
-            )],
-        }
-    }
-
-    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
-        for constraint in &self.constraints {
-            constraint.solve(params, positions);
-        }
-    }
-}
-
-#[derive(Debug)]
-pub(crate) struct WGenericPositionGroundConstraint {
-    constraints: [GenericPositionGroundConstraint; SIMD_WIDTH],
-}
-
-impl WGenericPositionGroundConstraint {
-    pub fn from_params(
-        rbs1: [&RigidBody; SIMD_WIDTH],
-        rbs2: [&RigidBody; SIMD_WIDTH],
-        cparams: [&GenericJoint; SIMD_WIDTH],
-        flipped: [bool; SIMD_WIDTH],
-    ) -> Self {
-        Self {
-            constraints: gather![|ii| GenericPositionGroundConstraint::from_params(
-                rbs1[ii],
-                rbs2[ii],
-                cparams[ii],
-                flipped[ii]
-            )],
-        }
-    }
-
-    pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
-        for constraint in &self.constraints {
-            constraint.solve(params, positions);
-        }
-    }
-}