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| author | Sébastien Crozet <developer@crozet.re> | 2022-03-06 11:32:25 +0100 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2022-03-20 21:49:16 +0100 |
| commit | 891c08177d090c5f045fd01b5e1b5f7b7b26552f (patch) | |
| tree | b606617586adc0298c213aaa4ab834e9f06430d9 /src/dynamics/solver/joint_constraint | |
| parent | 815de4beff2ca31255c7fb937337602eb784ed67 (diff) | |
| download | rapier-891c08177d090c5f045fd01b5e1b5f7b7b26552f.tar.gz rapier-891c08177d090c5f045fd01b5e1b5f7b7b26552f.tar.bz2 rapier-891c08177d090c5f045fd01b5e1b5f7b7b26552f.zip | |
Rebase on master branch
Diffstat (limited to 'src/dynamics/solver/joint_constraint')
3 files changed, 12 insertions, 13 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_constraint.rs b/src/dynamics/solver/joint_constraint/joint_constraint.rs index 988e6a2..f571bc6 100644 --- a/src/dynamics/solver/joint_constraint/joint_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_constraint.rs @@ -12,7 +12,7 @@ use crate::dynamics::{ }; #[cfg(feature = "simd-is-enabled")] use crate::math::{Isometry, SimdReal, SIMD_WIDTH}; -use crate::math::{Real, DIM, SPATIAL_DIM}; +use crate::math::{Real, SPATIAL_DIM}; use crate::prelude::MultibodyJointSet; use na::DVector; diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs index 510f46f..1e7df89 100644 --- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint_builder.rs @@ -58,7 +58,7 @@ impl SolverBody<Real, 1> { impl JointVelocityConstraintBuilder<Real> { pub fn lock_jacobians_generic( &self, - params: &IntegrationParameters, + _params: &IntegrationParameters, jacobians: &mut DVector<Real>, j_id: &mut usize, joint_id: JointIndex, @@ -500,7 +500,7 @@ impl JointVelocityConstraintBuilder<Real> { impl JointVelocityConstraintBuilder<Real> { pub fn lock_jacobians_generic_ground( &self, - params: &IntegrationParameters, + _params: &IntegrationParameters, jacobians: &mut DVector<Real>, j_id: &mut usize, joint_id: JointIndex, diff --git a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs index 95ab288..8544e31 100644 --- a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs @@ -3,7 +3,7 @@ use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{ }; use crate::dynamics::solver::joint_constraint::SolverBody; use crate::dynamics::solver::MotorParameters; -use crate::dynamics::{IntegrationParameters, JointAxesMask, JointIndex, JointLimits, JointMotor}; +use crate::dynamics::{IntegrationParameters, JointIndex, JointLimits}; use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM}; use crate::utils::{IndexMut2, WCrossMatrix, WDot, WQuat, WReal}; use na::SMatrix; @@ -660,15 +660,14 @@ impl<N: WReal> JointVelocityConstraintBuilder<N> { pub fn motor_linear_coupled_ground<const LANES: usize>( &self, - params: &IntegrationParameters, - joint_id: [JointIndex; LANES], - body1: &SolverBody<N, LANES>, - body2: &SolverBody<N, LANES>, - motor_coupled_axes: u8, - motors: &[MotorParameters<N>], - limited_coupled_axes: u8, - limits: &[JointLimits<N>], - writeback_id: WritebackId, + _joint_id: [JointIndex; LANES], + _body1: &SolverBody<N, LANES>, + _body2: &SolverBody<N, LANES>, + _motor_coupled_axes: u8, + _motors: &[MotorParameters<N>], + _limited_coupled_axes: u8, + _limits: &[JointLimits<N>], + _writeback_id: WritebackId, ) -> JointVelocityGroundConstraint<N, LANES> { todo!() /* |