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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-19 17:32:09 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-19 17:32:09 +0100 |
| commit | dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2 (patch) | |
| tree | bdf50466616f449570713ca61f419aa04807d4b1 /src/dynamics/solver/joint_constraint/joint_constraint.rs | |
| parent | e9f17f32e8dda4b97d2eb7b2118b7373d0c554d0 (diff) | |
| download | rapier-dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2.tar.gz rapier-dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2.tar.bz2 rapier-dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2.zip | |
Make revolute joint actuation work properly even when SIMD is enabled.
Diffstat (limited to 'src/dynamics/solver/joint_constraint/joint_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_constraint.rs | 31 |
1 files changed, 15 insertions, 16 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_constraint.rs b/src/dynamics/solver/joint_constraint/joint_constraint.rs index ebc3c4a..ed27e51 100644 --- a/src/dynamics/solver/joint_constraint/joint_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_constraint.rs @@ -7,8 +7,7 @@ use super::{RevoluteVelocityConstraint, RevoluteVelocityGroundConstraint}; #[cfg(feature = "simd-is-enabled")] use super::{ WBallVelocityConstraint, WBallVelocityGroundConstraint, WFixedVelocityConstraint, - WFixedVelocityGroundConstraint, WGenericPositionConstraint, WGenericPositionGroundConstraint, - WGenericVelocityConstraint, WGenericVelocityGroundConstraint, WPrismaticVelocityConstraint, + WFixedVelocityGroundConstraint, WPrismaticVelocityConstraint, WPrismaticVelocityGroundConstraint, }; #[cfg(feature = "dim3")] @@ -122,12 +121,12 @@ impl AnyJointVelocityConstraint { params, joint_id, rbs1, rbs2, joints, )) } - JointParams::GenericJoint(_) => { - let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH]; - AnyJointVelocityConstraint::WGenericConstraint( - WGenericVelocityConstraint::from_params(params, joint_id, rbs1, rbs2, joints), - ) - } + // JointParams::GenericJoint(_) => { + // let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH]; + // AnyJointVelocityConstraint::WGenericConstraint( + // WGenericVelocityConstraint::from_params(params, joint_id, rbs1, rbs2, joints), + // ) + // } JointParams::PrismaticJoint(_) => { let joints = array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH]; @@ -221,14 +220,14 @@ impl AnyJointVelocityConstraint { ), ) } - JointParams::GenericJoint(_) => { - let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH]; - AnyJointVelocityConstraint::WGenericGroundConstraint( - WGenericVelocityGroundConstraint::from_params( - params, joint_id, rbs1, rbs2, joints, flipped, - ), - ) - } + // JointParams::GenericJoint(_) => { + // let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH]; + // AnyJointVelocityConstraint::WGenericGroundConstraint( + // WGenericVelocityGroundConstraint::from_params( + // params, joint_id, rbs1, rbs2, joints, flipped, + // ), + // ) + // } JointParams::PrismaticJoint(_) => { let joints = array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH]; |