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| author | Sébastien Crozet <developer@crozet.re> | 2022-01-02 18:05:50 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2022-01-02 18:05:50 +0100 |
| commit | 1308db89948bc62fb865b32f832f19268f23dd23 (patch) | |
| tree | b3d8b0cbb6d2e75aa8fc7686e9cb8801527a31b8 /src/dynamics/solver/mod.rs | |
| parent | 8e7da5ad45d180b0d3fa2bde37f8f3771b153b70 (diff) | |
| parent | 9f9d3293605fa84555c08bec5efe68a71cd18432 (diff) | |
| download | rapier-1308db89948bc62fb865b32f832f19268f23dd23.tar.gz rapier-1308db89948bc62fb865b32f832f19268f23dd23.tar.bz2 rapier-1308db89948bc62fb865b32f832f19268f23dd23.zip | |
Merge pull request #267 from dimforge/multibody
Implement multibody joints, and new velocity-based constraints solver
Diffstat (limited to 'src/dynamics/solver/mod.rs')
| -rw-r--r-- | src/dynamics/solver/mod.rs | 27 |
1 files changed, 6 insertions, 21 deletions
diff --git a/src/dynamics/solver/mod.rs b/src/dynamics/solver/mod.rs index 33b6f9a..7607c28 100644 --- a/src/dynamics/solver/mod.rs +++ b/src/dynamics/solver/mod.rs @@ -3,26 +3,19 @@ pub(crate) use self::island_solver::IslandSolver; #[cfg(feature = "parallel")] pub(crate) use self::parallel_island_solver::{ParallelIslandSolver, ThreadContext}; #[cfg(feature = "parallel")] -pub(self) use self::parallel_position_solver::ParallelPositionSolver; -#[cfg(feature = "parallel")] pub(self) use self::parallel_solver_constraints::ParallelSolverConstraints; #[cfg(feature = "parallel")] pub(self) use self::parallel_velocity_solver::ParallelVelocitySolver; #[cfg(not(feature = "parallel"))] -pub(self) use self::position_solver::PositionSolver; -#[cfg(not(feature = "parallel"))] pub(self) use self::solver_constraints::SolverConstraints; #[cfg(not(feature = "parallel"))] pub(self) use self::velocity_solver::VelocitySolver; pub(self) use delta_vel::DeltaVel; +pub(self) use generic_velocity_constraint::*; +pub(self) use generic_velocity_constraint_element::*; pub(self) use interaction_groups::*; -pub(self) use joint_constraint::*; -pub(self) use position_constraint::*; -#[cfg(feature = "simd-is-enabled")] -pub(self) use position_constraint_wide::*; -pub(self) use position_ground_constraint::*; -#[cfg(feature = "simd-is-enabled")] -pub(self) use position_ground_constraint_wide::*; +pub(crate) use joint_constraint::MotorParameters; +pub use joint_constraint::*; pub(self) use velocity_constraint::*; pub(self) use velocity_constraint_element::*; #[cfg(feature = "simd-is-enabled")] @@ -34,6 +27,8 @@ pub(self) use velocity_ground_constraint_wide::*; mod categorization; mod delta_vel; +mod generic_velocity_constraint; +mod generic_velocity_constraint_element; mod interaction_groups; #[cfg(not(feature = "parallel"))] mod island_solver; @@ -41,19 +36,9 @@ mod joint_constraint; #[cfg(feature = "parallel")] mod parallel_island_solver; #[cfg(feature = "parallel")] -mod parallel_position_solver; -#[cfg(feature = "parallel")] mod parallel_solver_constraints; #[cfg(feature = "parallel")] mod parallel_velocity_solver; -mod position_constraint; -#[cfg(feature = "simd-is-enabled")] -mod position_constraint_wide; -mod position_ground_constraint; -#[cfg(feature = "simd-is-enabled")] -mod position_ground_constraint_wide; -#[cfg(not(feature = "parallel"))] -mod position_solver; #[cfg(not(feature = "parallel"))] mod solver_constraints; mod velocity_constraint; |