From f74b8401ad9ef50b8cdbf1f43a2b21f6c42b0ebc Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Sun, 2 Jan 2022 14:47:40 +0100
Subject: Implement multibody joints and the new solver

---
 src/dynamics/solver/mod.rs | 27 ++++++---------------------
 1 file changed, 6 insertions(+), 21 deletions(-)

(limited to 'src/dynamics/solver/mod.rs')

diff --git a/src/dynamics/solver/mod.rs b/src/dynamics/solver/mod.rs
index 33b6f9a..7607c28 100644
--- a/src/dynamics/solver/mod.rs
+++ b/src/dynamics/solver/mod.rs
@@ -3,26 +3,19 @@ pub(crate) use self::island_solver::IslandSolver;
 #[cfg(feature = "parallel")]
 pub(crate) use self::parallel_island_solver::{ParallelIslandSolver, ThreadContext};
 #[cfg(feature = "parallel")]
-pub(self) use self::parallel_position_solver::ParallelPositionSolver;
-#[cfg(feature = "parallel")]
 pub(self) use self::parallel_solver_constraints::ParallelSolverConstraints;
 #[cfg(feature = "parallel")]
 pub(self) use self::parallel_velocity_solver::ParallelVelocitySolver;
 #[cfg(not(feature = "parallel"))]
-pub(self) use self::position_solver::PositionSolver;
-#[cfg(not(feature = "parallel"))]
 pub(self) use self::solver_constraints::SolverConstraints;
 #[cfg(not(feature = "parallel"))]
 pub(self) use self::velocity_solver::VelocitySolver;
 pub(self) use delta_vel::DeltaVel;
+pub(self) use generic_velocity_constraint::*;
+pub(self) use generic_velocity_constraint_element::*;
 pub(self) use interaction_groups::*;
-pub(self) use joint_constraint::*;
-pub(self) use position_constraint::*;
-#[cfg(feature = "simd-is-enabled")]
-pub(self) use position_constraint_wide::*;
-pub(self) use position_ground_constraint::*;
-#[cfg(feature = "simd-is-enabled")]
-pub(self) use position_ground_constraint_wide::*;
+pub(crate) use joint_constraint::MotorParameters;
+pub use joint_constraint::*;
 pub(self) use velocity_constraint::*;
 pub(self) use velocity_constraint_element::*;
 #[cfg(feature = "simd-is-enabled")]
@@ -34,6 +27,8 @@ pub(self) use velocity_ground_constraint_wide::*;
 
 mod categorization;
 mod delta_vel;
+mod generic_velocity_constraint;
+mod generic_velocity_constraint_element;
 mod interaction_groups;
 #[cfg(not(feature = "parallel"))]
 mod island_solver;
@@ -41,19 +36,9 @@ mod joint_constraint;
 #[cfg(feature = "parallel")]
 mod parallel_island_solver;
 #[cfg(feature = "parallel")]
-mod parallel_position_solver;
-#[cfg(feature = "parallel")]
 mod parallel_solver_constraints;
 #[cfg(feature = "parallel")]
 mod parallel_velocity_solver;
-mod position_constraint;
-#[cfg(feature = "simd-is-enabled")]
-mod position_constraint_wide;
-mod position_ground_constraint;
-#[cfg(feature = "simd-is-enabled")]
-mod position_ground_constraint_wide;
-#[cfg(not(feature = "parallel"))]
-mod position_solver;
 #[cfg(not(feature = "parallel"))]
 mod solver_constraints;
 mod velocity_constraint;
-- 
cgit