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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_position_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_position_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_position_constraint.rs | 28 |
1 files changed, 14 insertions, 14 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_position_constraint.rs b/src/dynamics/solver/joint_constraint/joint_position_constraint.rs index 40f5d5a..f0c374e 100644 --- a/src/dynamics/solver/joint_constraint/joint_position_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_position_constraint.rs @@ -10,8 +10,8 @@ use super::{WRevolutePositionConstraint, WRevolutePositionGroundConstraint}; #[cfg(feature = "simd-is-enabled")] use super::{ WBallPositionConstraint, WBallPositionGroundConstraint, WFixedPositionConstraint, - WFixedPositionGroundConstraint, WGenericPositionConstraint, WGenericPositionGroundConstraint, - WPrismaticPositionConstraint, WPrismaticPositionGroundConstraint, + WFixedPositionGroundConstraint, WPrismaticPositionConstraint, + WPrismaticPositionGroundConstraint, }; use crate::dynamics::solver::DeltaVel; use crate::dynamics::{IntegrationParameters, Joint, JointParams, RigidBodySet}; @@ -99,12 +99,12 @@ impl AnyJointPositionConstraint { rbs1, rbs2, joints, )) } - JointParams::GenericJoint(_) => { - let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH]; - AnyJointPositionConstraint::WGenericJoint(WGenericPositionConstraint::from_params( - rbs1, rbs2, joints, - )) - } + // JointParams::GenericJoint(_) => { + // let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH]; + // AnyJointPositionConstraint::WGenericJoint(WGenericPositionConstraint::from_params( + // rbs1, rbs2, joints, + // )) + // } JointParams::PrismaticJoint(_) => { let joints = array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH]; @@ -180,12 +180,12 @@ impl AnyJointPositionConstraint { WFixedPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped), ) } - JointParams::GenericJoint(_) => { - let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH]; - AnyJointPositionConstraint::WGenericGroundConstraint( - WGenericPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped), - ) - } + // JointParams::GenericJoint(_) => { + // let joints = array![|ii| joints[ii].params.as_generic_joint().unwrap(); SIMD_WIDTH]; + // AnyJointPositionConstraint::WGenericGroundConstraint( + // WGenericPositionGroundConstraint::from_params(rbs1, rbs2, joints, flipped), + // ) + // } JointParams::PrismaticJoint(_) => { let joints = array![|ii| joints[ii].params.as_prismatic_joint().unwrap(); SIMD_WIDTH]; |