Outsource the Shape trait, wquadtree, and shape types.

1 files changed, 33 insertions, 34 deletions

diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs
index a4efb9a..11e7a9d 100644
--- a/src/dynamics/solver/velocity_constraint_wide.rs
+++ b/src/dynamics/solver/velocity_constraint_wide.rs
@@ -2,7 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel};
 use crate::dynamics::{IntegrationParameters, RigidBodySet};
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::math::{
-    AngVector, AngularInertia, Isometry, Point, SimdFloat, Vector, DIM, MAX_MANIFOLD_POINTS,
+    AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS,
     SIMD_WIDTH,
 };
 use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
@@ -11,11 +11,11 @@ use simba::simd::{SimdPartialOrd, SimdValue};
 
 #[derive(Copy, Clone, Debug)]
 pub(crate) struct WVelocityConstraintElementPart {
-    pub gcross1: AngVector<SimdFloat>,
-    pub gcross2: AngVector<SimdFloat>,
-    pub rhs: SimdFloat,
-    pub impulse: SimdFloat,
-    pub r: SimdFloat,
+    pub gcross1: AngVector<SimdReal>,
+    pub gcross2: AngVector<SimdReal>,
+    pub rhs: SimdReal,
+    pub impulse: SimdReal,
+    pub r: SimdReal,
 }
 
 impl WVelocityConstraintElementPart {
@@ -23,9 +23,9 @@ impl WVelocityConstraintElementPart {
         Self {
             gcross1: AngVector::zero(),
             gcross2: AngVector::zero(),
-            rhs: SimdFloat::zero(),
-            impulse: SimdFloat::zero(),
-            r: SimdFloat::zero(),
+            rhs: SimdReal::zero(),
+            impulse: SimdReal::zero(),
+            r: SimdReal::zero(),
         }
     }
 }
@@ -47,12 +47,12 @@ impl WVelocityConstraintElement {
 
 #[derive(Copy, Clone, Debug)]
 pub(crate) struct WVelocityConstraint {
-    pub dir1: Vector<SimdFloat>, // Non-penetration force direction for the first body.
+    pub dir1: Vector<SimdReal>, // Non-penetration force direction for the first body.
     pub elements: [WVelocityConstraintElement; MAX_MANIFOLD_POINTS],
     pub num_contacts: u8,
-    pub im1: SimdFloat,
-    pub im2: SimdFloat,
-    pub limit: SimdFloat,
+    pub im1: SimdReal,
+    pub im2: SimdReal,
+    pub limit: SimdReal,
     pub mj_lambda1: [usize; SIMD_WIDTH],
     pub mj_lambda2: [usize; SIMD_WIDTH],
     pub manifold_id: [ContactManifoldIndex; SIMD_WIDTH],
@@ -68,29 +68,29 @@ impl WVelocityConstraint {
         out_constraints: &mut Vec<AnyVelocityConstraint>,
         push: bool,
     ) {
-        let inv_dt = SimdFloat::splat(params.inv_dt());
+        let inv_dt = SimdReal::splat(params.inv_dt());
         let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH];
         let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH];
 
         let delta1 = Isometry::from(array![|ii| manifolds[ii].data.delta1; SIMD_WIDTH]);
         let delta2 = Isometry::from(array![|ii| manifolds[ii].data.delta2; SIMD_WIDTH]);
 
-        let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii1: AngularInertia<SimdFloat> =
+        let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii1: AngularInertia<SimdReal> =
             AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
 
         let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]);
-        let angvel1 = AngVector::<SimdFloat>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
+        let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]);
 
         let pos1 = Isometry::from(array![|ii| rbs1[ii].position; SIMD_WIDTH]);
         let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]);
 
-        let im2 = SimdFloat::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
-        let ii2: AngularInertia<SimdFloat> =
+        let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]);
+        let ii2: AngularInertia<SimdReal> =
             AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]);
 
         let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]);
-        let angvel2 = AngVector::<SimdFloat>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
+        let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]);
 
         let pos2 = Isometry::from(array![|ii| rbs2[ii].position; SIMD_WIDTH]);
         let world_com2 = Point::from(array![|ii| rbs2[ii].world_com; SIMD_WIDTH]);
@@ -103,14 +103,13 @@ impl WVelocityConstraint {
         let mj_lambda1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH];
         let mj_lambda2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH];
 
-        let friction = SimdFloat::from(array![|ii| manifolds[ii].data.friction; SIMD_WIDTH]);
-        let restitution = SimdFloat::from(array![|ii| manifolds[ii].data.restitution; SIMD_WIDTH]);
-        let restitution_velocity_threshold =
-            SimdFloat::splat(params.restitution_velocity_threshold);
+        let friction = SimdReal::from(array![|ii| manifolds[ii].data.friction; SIMD_WIDTH]);
+        let restitution = SimdReal::from(array![|ii| manifolds[ii].data.restitution; SIMD_WIDTH]);
+        let restitution_velocity_threshold = SimdReal::splat(params.restitution_velocity_threshold);
 
         let warmstart_multiplier =
-            SimdFloat::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
-        let warmstart_coeff = warmstart_multiplier * SimdFloat::splat(params.warmstart_coeff);
+            SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]);
+        let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff);
 
         for l in (0..manifolds[0].num_active_contacts()).step_by(MAX_MANIFOLD_POINTS) {
             let manifold_points = array![|ii| &manifolds[ii].active_contacts()[l..]; SIMD_WIDTH];
@@ -137,10 +136,10 @@ impl WVelocityConstraint {
                 let p2 = coll_pos2
                     * Point::from(array![|ii| manifold_points[ii][k].local_p2; SIMD_WIDTH]);
 
-                let dist = SimdFloat::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
+                let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]);
 
                 let impulse =
-                    SimdFloat::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
+                    SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]);
 
                 let dp1 = p1 - world_com1;
                 let dp2 = p2 - world_com2;
@@ -153,13 +152,13 @@ impl WVelocityConstraint {
                     let gcross1 = ii1.transform_vector(dp1.gcross(force_dir1));
                     let gcross2 = ii2.transform_vector(dp2.gcross(-force_dir1));
 
-                    let r = SimdFloat::splat(1.0)
+                    let r = SimdReal::splat(1.0)
                         / (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2));
                     let mut rhs = (vel1 - vel2).dot(&force_dir1);
                     let use_restitution = rhs.simd_le(-restitution_velocity_threshold);
                     let rhs_with_restitution = rhs + rhs * restitution;
                     rhs = rhs_with_restitution.select(use_restitution, rhs);
-                    rhs += dist.simd_max(SimdFloat::zero()) * inv_dt;
+                    rhs += dist.simd_max(SimdReal::zero()) * inv_dt;
 
                     constraint.elements[k].normal_part = WVelocityConstraintElementPart {
                         gcross1,
@@ -175,17 +174,17 @@ impl WVelocityConstraint {
 
                 for j in 0..DIM - 1 {
                     #[cfg(feature = "dim2")]
-                    let impulse = SimdFloat::from(
+                    let impulse = SimdReal::from(
                         array![|ii| manifold_points[ii][k].data.tangent_impulse; SIMD_WIDTH],
                     );
                     #[cfg(feature = "dim3")]
-                    let impulse = SimdFloat::from(
+                    let impulse = SimdReal::from(
                         array![|ii| manifold_points[ii][k].data.tangent_impulse[j]; SIMD_WIDTH],
                     );
 
                     let gcross1 = ii1.transform_vector(dp1.gcross(tangents1[j]));
                     let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j]));
-                    let r = SimdFloat::splat(1.0)
+                    let r = SimdReal::splat(1.0)
                         / (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2));
                     let rhs = (vel1 - vel2).dot(&tangents1[j]);
 
@@ -309,7 +308,7 @@ impl WVelocityConstraint {
                 - self.dir1.dot(&mj_lambda2.linear)
                 + elt.gcross2.gdot(mj_lambda2.angular)
                 + elt.rhs;
-            let new_impulse = (elt.impulse - elt.r * dimpulse).simd_max(SimdFloat::zero());
+            let new_impulse = (elt.impulse - elt.r * dimpulse).simd_max(SimdReal::zero());
             let dlambda = new_impulse - elt.impulse;
             elt.impulse = new_impulse;