Implement multibody joints and the new solver

1 files changed, 9 insertions, 98 deletions

diff --git a/src/dynamics/solver/joint_constraint/mod.rs b/src/dynamics/solver/joint_constraint/mod.rs
index 9196e69..503bd81 100644
--- a/src/dynamics/solver/joint_constraint/mod.rs
+++ b/src/dynamics/solver/joint_constraint/mod.rs
@@ -1,102 +1,13 @@
-pub(self) use ball_position_constraint::{BallPositionConstraint, BallPositionGroundConstraint};
-#[cfg(feature = "simd-is-enabled")]
-pub(self) use ball_position_constraint_wide::{
-    WBallPositionConstraint, WBallPositionGroundConstraint,
-};
-pub(self) use ball_velocity_constraint::{BallVelocityConstraint, BallVelocityGroundConstraint};
-#[cfg(feature = "simd-is-enabled")]
-pub(self) use ball_velocity_constraint_wide::{
-    WBallVelocityConstraint, WBallVelocityGroundConstraint,
-};
-pub(self) use fixed_position_constraint::{FixedPositionConstraint, FixedPositionGroundConstraint};
-#[cfg(feature = "simd-is-enabled")]
-pub(self) use fixed_position_constraint_wide::{
-    WFixedPositionConstraint, WFixedPositionGroundConstraint,
-};
-pub(self) use fixed_velocity_constraint::{FixedVelocityConstraint, FixedVelocityGroundConstraint};
-#[cfg(feature = "simd-is-enabled")]
-pub(self) use fixed_velocity_constraint_wide::{
-    WFixedVelocityConstraint, WFixedVelocityGroundConstraint,
-};
-// pub(self) use generic_position_constraint::{
-//     GenericPositionConstraint, GenericPositionGroundConstraint,
-// };
-// #[cfg(feature = "simd-is-enabled")]
-// pub(self) use generic_position_constraint_wide::{
-//     WGenericPositionConstraint, WGenericPositionGroundConstraint,
-// };
-// pub(self) use generic_velocity_constraint::{
-//     GenericVelocityConstraint, GenericVelocityGroundConstraint,
-// };
-// #[cfg(feature = "simd-is-enabled")]
-// pub(self) use generic_velocity_constraint_wide::{
-//     WGenericVelocityConstraint, WGenericVelocityGroundConstraint,
-// };
+pub use joint_velocity_constraint::{MotorParameters, SolverBody, WritebackId};
 
-pub(crate) use joint_constraint::AnyJointVelocityConstraint;
-pub(crate) use joint_position_constraint::AnyJointPositionConstraint;
-pub(self) use prismatic_position_constraint::{
-    PrismaticPositionConstraint, PrismaticPositionGroundConstraint,
-};
-#[cfg(feature = "simd-is-enabled")]
-pub(self) use prismatic_position_constraint_wide::{
-    WPrismaticPositionConstraint, WPrismaticPositionGroundConstraint,
-};
-pub(self) use prismatic_velocity_constraint::{
-    PrismaticVelocityConstraint, PrismaticVelocityGroundConstraint,
-};
-#[cfg(feature = "simd-is-enabled")]
-pub(self) use prismatic_velocity_constraint_wide::{
-    WPrismaticVelocityConstraint, WPrismaticVelocityGroundConstraint,
-};
-#[cfg(feature = "dim3")]
-pub(self) use revolute_position_constraint::{
-    RevolutePositionConstraint, RevolutePositionGroundConstraint,
-};
-#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
-pub(self) use revolute_position_constraint_wide::{
-    WRevolutePositionConstraint, WRevolutePositionGroundConstraint,
-};
-#[cfg(feature = "dim3")]
-pub(self) use revolute_velocity_constraint::{
-    RevoluteVelocityConstraint, RevoluteVelocityGroundConstraint,
-};
-#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
-pub(self) use revolute_velocity_constraint_wide::{
-    WRevoluteVelocityConstraint, WRevoluteVelocityGroundConstraint,
+pub use joint_constraint::AnyJointVelocityConstraint;
+pub use joint_generic_velocity_constraint::{
+    JointGenericVelocityConstraint, JointGenericVelocityGroundConstraint,
 };
+pub use joint_velocity_constraint_builder::JointVelocityConstraintBuilder;
 
-mod ball_position_constraint;
-#[cfg(feature = "simd-is-enabled")]
-mod ball_position_constraint_wide;
-mod ball_velocity_constraint;
-#[cfg(feature = "simd-is-enabled")]
-mod ball_velocity_constraint_wide;
-mod fixed_position_constraint;
-#[cfg(feature = "simd-is-enabled")]
-mod fixed_position_constraint_wide;
-mod fixed_velocity_constraint;
-#[cfg(feature = "simd-is-enabled")]
-mod fixed_velocity_constraint_wide;
-// mod generic_position_constraint;
-// #[cfg(feature = "simd-is-enabled")]
-// mod generic_position_constraint_wide;
-// mod generic_velocity_constraint;
-// #[cfg(feature = "simd-is-enabled")]
-// mod generic_velocity_constraint_wide;
 mod joint_constraint;
-mod joint_position_constraint;
-mod prismatic_position_constraint;
-#[cfg(feature = "simd-is-enabled")]
-mod prismatic_position_constraint_wide;
-mod prismatic_velocity_constraint;
-#[cfg(feature = "simd-is-enabled")]
-mod prismatic_velocity_constraint_wide;
-#[cfg(feature = "dim3")]
-mod revolute_position_constraint;
-#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
-mod revolute_position_constraint_wide;
-#[cfg(feature = "dim3")]
-mod revolute_velocity_constraint;
-#[cfg(all(feature = "dim3", feature = "simd-is-enabled"))]
-mod revolute_velocity_constraint_wide;
+mod joint_generic_velocity_constraint;
+mod joint_generic_velocity_constraint_builder;
+mod joint_velocity_constraint;
+mod joint_velocity_constraint_builder;