From 5b80c4efbf93ad1294c9d3d390d8c8f090681b0e Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Wed, 10 Feb 2021 11:56:51 +0100 Subject: Start experimenting with a generic joint implementation for joint drives. --- src/dynamics/solver/joint_constraint/mod.rs | 21 +++++++++++++++++++++ 1 file changed, 21 insertions(+) (limited to 'src/dynamics/solver/joint_constraint/mod.rs') diff --git a/src/dynamics/solver/joint_constraint/mod.rs b/src/dynamics/solver/joint_constraint/mod.rs index 154ff83..b8e833e 100644 --- a/src/dynamics/solver/joint_constraint/mod.rs +++ b/src/dynamics/solver/joint_constraint/mod.rs @@ -18,6 +18,21 @@ pub(self) use fixed_velocity_constraint::{FixedVelocityConstraint, FixedVelocity pub(self) use fixed_velocity_constraint_wide::{ WFixedVelocityConstraint, WFixedVelocityGroundConstraint, }; +pub(self) use generic_position_constraint::{ + GenericPositionConstraint, GenericPositionGroundConstraint, +}; +#[cfg(feature = "simd-is-enabled")] +pub(self) use generic_position_constraint_wide::{ + WGenericPositionConstraint, WGenericPositionGroundConstraint, +}; +pub(self) use generic_velocity_constraint::{ + GenericVelocityConstraint, GenericVelocityGroundConstraint, +}; +#[cfg(feature = "simd-is-enabled")] +pub(self) use generic_velocity_constraint_wide::{ + WGenericVelocityConstraint, WGenericVelocityGroundConstraint, +}; + pub(crate) use joint_constraint::AnyJointVelocityConstraint; pub(crate) use joint_position_constraint::AnyJointPositionConstraint; pub(self) use prismatic_position_constraint::{ @@ -63,6 +78,12 @@ mod fixed_position_constraint_wide; mod fixed_velocity_constraint; #[cfg(feature = "simd-is-enabled")] mod fixed_velocity_constraint_wide; +mod generic_position_constraint; +#[cfg(feature = "simd-is-enabled")] +mod generic_position_constraint_wide; +mod generic_velocity_constraint; +#[cfg(feature = "simd-is-enabled")] +mod generic_velocity_constraint_wide; mod joint_constraint; mod joint_position_constraint; mod prismatic_position_constraint; -- cgit From e9f17f32e8dda4b97d2eb7b2118b7373d0c554d0 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Fri, 19 Feb 2021 15:21:25 +0100 Subject: Complete the implementation of non-simd joint motor for the revolute joint. --- src/dynamics/solver/joint_constraint/mod.rs | 40 ++++++++++++++--------------- 1 file changed, 20 insertions(+), 20 deletions(-) (limited to 'src/dynamics/solver/joint_constraint/mod.rs') diff --git a/src/dynamics/solver/joint_constraint/mod.rs b/src/dynamics/solver/joint_constraint/mod.rs index b8e833e..9196e69 100644 --- a/src/dynamics/solver/joint_constraint/mod.rs +++ b/src/dynamics/solver/joint_constraint/mod.rs @@ -18,20 +18,20 @@ pub(self) use fixed_velocity_constraint::{FixedVelocityConstraint, FixedVelocity pub(self) use fixed_velocity_constraint_wide::{ WFixedVelocityConstraint, WFixedVelocityGroundConstraint, }; -pub(self) use generic_position_constraint::{ - GenericPositionConstraint, GenericPositionGroundConstraint, -}; -#[cfg(feature = "simd-is-enabled")] -pub(self) use generic_position_constraint_wide::{ - WGenericPositionConstraint, WGenericPositionGroundConstraint, -}; -pub(self) use generic_velocity_constraint::{ - GenericVelocityConstraint, GenericVelocityGroundConstraint, -}; -#[cfg(feature = "simd-is-enabled")] -pub(self) use generic_velocity_constraint_wide::{ - WGenericVelocityConstraint, WGenericVelocityGroundConstraint, -}; +// pub(self) use generic_position_constraint::{ +// GenericPositionConstraint, GenericPositionGroundConstraint, +// }; +// #[cfg(feature = "simd-is-enabled")] +// pub(self) use generic_position_constraint_wide::{ +// WGenericPositionConstraint, WGenericPositionGroundConstraint, +// }; +// pub(self) use generic_velocity_constraint::{ +// GenericVelocityConstraint, GenericVelocityGroundConstraint, +// }; +// #[cfg(feature = "simd-is-enabled")] +// pub(self) use generic_velocity_constraint_wide::{ +// WGenericVelocityConstraint, WGenericVelocityGroundConstraint, +// }; pub(crate) use joint_constraint::AnyJointVelocityConstraint; pub(crate) use joint_position_constraint::AnyJointPositionConstraint; @@ -78,12 +78,12 @@ mod fixed_position_constraint_wide; mod fixed_velocity_constraint; #[cfg(feature = "simd-is-enabled")] mod fixed_velocity_constraint_wide; -mod generic_position_constraint; -#[cfg(feature = "simd-is-enabled")] -mod generic_position_constraint_wide; -mod generic_velocity_constraint; -#[cfg(feature = "simd-is-enabled")] -mod generic_velocity_constraint_wide; +// mod generic_position_constraint; +// #[cfg(feature = "simd-is-enabled")] +// mod generic_position_constraint_wide; +// mod generic_velocity_constraint; +// #[cfg(feature = "simd-is-enabled")] +// mod generic_velocity_constraint_wide; mod joint_constraint; mod joint_position_constraint; mod prismatic_position_constraint; -- cgit