diff options
Diffstat (limited to 'src/dynamics/solver/joint_constraint')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_constraint_builder.rs | 10 |
1 files changed, 7 insertions, 3 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs index 40613c1..c6d5fa0 100644 --- a/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs @@ -9,11 +9,11 @@ use crate::dynamics::{GenericJoint, ImpulseJoint, IntegrationParameters, JointIn use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM}; use crate::prelude::RigidBodySet; use crate::utils; -use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdQuat, SimdRealCopy}; +use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdRealCopy}; use na::SMatrix; #[cfg(feature = "dim3")] -use crate::utils::SimdBasis; +use crate::utils::{SimdBasis, SimdQuat}; #[cfg(feature = "simd-is-enabled")] use crate::math::{SimdReal, SIMD_WIDTH}; @@ -345,9 +345,11 @@ impl JointOneBodyConstraintBuilderSimd { #[derive(Debug, Copy, Clone)] pub struct JointTwoBodyConstraintHelper<N: SimdRealCopy> { pub basis: Matrix<N>, + #[cfg(feature = "dim3")] pub basis2: Matrix<N>, // TODO: used for angular coupling. Can we avoid storing this? pub cmat1_basis: SMatrix<N, ANG_DIM, DIM>, pub cmat2_basis: SMatrix<N, ANG_DIM, DIM>, + #[cfg(feature = "dim3")] pub ang_basis: SMatrix<N, ANG_DIM, ANG_DIM>, pub lin_err: Vector<N>, pub ang_err: Rotation<N>, @@ -387,7 +389,7 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> { let cmat1 = r1.gcross_matrix(); let cmat2 = r2.gcross_matrix(); - #[allow(unused_mut)] // The mut is needed for 3D + #[cfg(feature = "dim3")] let mut ang_basis = frame1.rotation.diff_conj1_2(&frame2.rotation).transpose(); #[allow(unused_mut)] // The mut is needed for 3D let mut ang_err = frame1.rotation.inverse() * frame2.rotation; @@ -401,9 +403,11 @@ impl<N: SimdRealCopy> JointTwoBodyConstraintHelper<N> { Self { basis, + #[cfg(feature = "dim3")] basis2: frame2.rotation.to_rotation_matrix().into_inner(), cmat1_basis: cmat1 * basis, cmat2_basis: cmat2 * basis, + #[cfg(feature = "dim3")] ang_basis, lin_err, ang_err, |