From 9b87f06a856c4d673642e210f8b0986cfdbac3af Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 21 Jan 2024 21:02:23 +0100 Subject: feat: implement new "small-steps" solver + joint improvements --- src/dynamics/solver/contact_constraint/mod.rs | 29 +++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) create mode 100644 src/dynamics/solver/contact_constraint/mod.rs (limited to 'src/dynamics/solver/contact_constraint/mod.rs') diff --git a/src/dynamics/solver/contact_constraint/mod.rs b/src/dynamics/solver/contact_constraint/mod.rs new file mode 100644 index 0000000..09099dd --- /dev/null +++ b/src/dynamics/solver/contact_constraint/mod.rs @@ -0,0 +1,29 @@ +pub(crate) use generic_one_body_constraint::*; +// pub(crate) use generic_one_body_constraint_element::*; +pub(crate) use contact_constraints_set::{ + ConstraintsCounts, ContactConstraintTypes, ContactConstraintsSet, +}; +pub(crate) use generic_two_body_constraint::*; +pub(crate) use generic_two_body_constraint_element::*; +pub(crate) use one_body_constraint::*; +pub(crate) use one_body_constraint_element::*; +#[cfg(feature = "simd-is-enabled")] +pub(crate) use one_body_constraint_simd::*; +pub(crate) use two_body_constraint::*; +pub(crate) use two_body_constraint_element::*; +#[cfg(feature = "simd-is-enabled")] +pub(crate) use two_body_constraint_simd::*; + +mod contact_constraints_set; +mod generic_one_body_constraint; +mod generic_one_body_constraint_element; +mod generic_two_body_constraint; +mod generic_two_body_constraint_element; +mod one_body_constraint; +mod one_body_constraint_element; +#[cfg(feature = "simd-is-enabled")] +mod one_body_constraint_simd; +mod two_body_constraint; +mod two_body_constraint_element; +#[cfg(feature = "simd-is-enabled")] +mod two_body_constraint_simd; -- cgit