From aa61fe65e3ff0289ecab57b4053a3410cf6d4a87 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 4 Jan 2021 15:14:25 +0100 Subject: Add support of 64-bits reals. --- src/dynamics/joint/prismatic_joint.rs | 68 +++++++++++++++++------------------ 1 file changed, 34 insertions(+), 34 deletions(-) (limited to 'src/dynamics/joint/prismatic_joint.rs') diff --git a/src/dynamics/joint/prismatic_joint.rs b/src/dynamics/joint/prismatic_joint.rs index a6fd558..174ce79 100644 --- a/src/dynamics/joint/prismatic_joint.rs +++ b/src/dynamics/joint/prismatic_joint.rs @@ -1,4 +1,4 @@ -use crate::math::{Isometry, Point, Vector, DIM}; +use crate::math::{Isometry, Point, Real, Vector, DIM}; use crate::utils::WBasis; use na::Unit; #[cfg(feature = "dim2")] @@ -11,35 +11,35 @@ use na::Vector5; /// A joint that removes all relative motion between two bodies, except for the translations along one axis. pub struct PrismaticJoint { /// Where the prismatic joint is attached on the first body, expressed in the local space of the first attached body. - pub local_anchor1: Point, + pub local_anchor1: Point, /// Where the prismatic joint is attached on the second body, expressed in the local space of the second attached body. - pub local_anchor2: Point, - pub(crate) local_axis1: Unit>, - pub(crate) local_axis2: Unit>, - pub(crate) basis1: [Vector; DIM - 1], - pub(crate) basis2: [Vector; DIM - 1], + pub local_anchor2: Point, + pub(crate) local_axis1: Unit>, + pub(crate) local_axis2: Unit>, + pub(crate) basis1: [Vector; DIM - 1], + pub(crate) basis2: [Vector; DIM - 1], /// The impulse applied by this joint on the first body. /// /// The impulse applied to the second body is given by `-impulse`. #[cfg(feature = "dim3")] - pub impulse: Vector5, + pub impulse: Vector5, /// The impulse applied by this joint on the first body. /// /// The impulse applied to the second body is given by `-impulse`. #[cfg(feature = "dim2")] - pub impulse: Vector2, + pub impulse: Vector2, /// Whether or not this joint should enforce translational limits along its axis. pub limits_enabled: bool, /// The min an max relative position of the attached bodies along this joint's axis. - pub limits: [f32; 2], + pub limits: [Real; 2], /// The impulse applied by this joint on the first body to enforce the position limit along this joint's axis. /// /// The impulse applied to the second body is given by `-impulse`. - pub limits_impulse: f32, + pub limits_impulse: Real, // pub motor_enabled: bool, - // pub target_motor_vel: f32, - // pub max_motor_impulse: f32, - // pub motor_impulse: f32, + // pub target_motor_vel: Real, + // pub max_motor_impulse: Real, + // pub motor_impulse: Real, } impl PrismaticJoint { @@ -47,10 +47,10 @@ impl PrismaticJoint { /// in the local-space of the affected bodies. #[cfg(feature = "dim2")] pub fn new( - local_anchor1: Point, - local_axis1: Unit>, - local_anchor2: Point, - local_axis2: Unit>, + local_anchor1: Point, + local_axis1: Unit>, + local_anchor2: Point, + local_axis2: Unit>, ) -> Self { Self { local_anchor1, @@ -61,11 +61,11 @@ impl PrismaticJoint { basis2: local_axis2.orthonormal_basis(), impulse: na::zero(), limits_enabled: false, - limits: [-f32::MAX, f32::MAX], + limits: [-Real::MAX, Real::MAX], limits_impulse: 0.0, // motor_enabled: false, // target_motor_vel: 0.0, - // max_motor_impulse: f32::MAX, + // max_motor_impulse: Real::MAX, // motor_impulse: 0.0, } } @@ -78,12 +78,12 @@ impl PrismaticJoint { /// computed arbitrarily. #[cfg(feature = "dim3")] pub fn new( - local_anchor1: Point, - local_axis1: Unit>, - local_tangent1: Vector, - local_anchor2: Point, - local_axis2: Unit>, - local_tangent2: Vector, + local_anchor1: Point, + local_axis1: Unit>, + local_tangent1: Vector, + local_anchor2: Point, + local_axis2: Unit>, + local_tangent2: Vector, ) -> Self { let basis1 = if let Some(local_bitangent1) = Unit::try_new(local_axis1.cross(&local_tangent1), 1.0e-3) @@ -116,28 +116,28 @@ impl PrismaticJoint { basis2, impulse: na::zero(), limits_enabled: false, - limits: [-f32::MAX, f32::MAX], + limits: [-Real::MAX, Real::MAX], limits_impulse: 0.0, // motor_enabled: false, // target_motor_vel: 0.0, - // max_motor_impulse: f32::MAX, + // max_motor_impulse: Real::MAX, // motor_impulse: 0.0, } } /// The local axis of this joint, expressed in the local-space of the first attached body. - pub fn local_axis1(&self) -> Unit> { + pub fn local_axis1(&self) -> Unit> { self.local_axis1 } /// The local axis of this joint, expressed in the local-space of the second attached body. - pub fn local_axis2(&self) -> Unit> { + pub fn local_axis2(&self) -> Unit> { self.local_axis2 } // FIXME: precompute this? #[cfg(feature = "dim2")] - pub(crate) fn local_frame1(&self) -> Isometry { + pub(crate) fn local_frame1(&self) -> Isometry { use na::{Matrix2, Rotation2, UnitComplex}; let mat = Matrix2::from_columns(&[self.local_axis1.into_inner(), self.basis1[0]]); @@ -149,7 +149,7 @@ impl PrismaticJoint { // FIXME: precompute this? #[cfg(feature = "dim2")] - pub(crate) fn local_frame2(&self) -> Isometry { + pub(crate) fn local_frame2(&self) -> Isometry { use na::{Matrix2, Rotation2, UnitComplex}; let mat = Matrix2::from_columns(&[self.local_axis2.into_inner(), self.basis2[0]]); @@ -161,7 +161,7 @@ impl PrismaticJoint { // FIXME: precompute this? #[cfg(feature = "dim3")] - pub(crate) fn local_frame1(&self) -> Isometry { + pub(crate) fn local_frame1(&self) -> Isometry { use na::{Matrix3, Rotation3, UnitQuaternion}; let mat = Matrix3::from_columns(&[ @@ -177,7 +177,7 @@ impl PrismaticJoint { // FIXME: precompute this? #[cfg(feature = "dim3")] - pub(crate) fn local_frame2(&self) -> Isometry { + pub(crate) fn local_frame2(&self) -> Isometry { use na::{Matrix3, Rotation3, UnitQuaternion}; let mat = Matrix3::from_columns(&[ -- cgit