From c28b14d31c43e1eb97a81df7673127d0c22d8deb Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 4 Jan 2021 17:59:51 +0100 Subject: Refactor the parallel solver code the same way we did with the non-parallel solver. --- src/dynamics/solver/solver_constraints.rs | 26 ++++---------------------- 1 file changed, 4 insertions(+), 22 deletions(-) (limited to 'src/dynamics/solver/solver_constraints.rs') diff --git a/src/dynamics/solver/solver_constraints.rs b/src/dynamics/solver/solver_constraints.rs index 1965d6d..b9dd497 100644 --- a/src/dynamics/solver/solver_constraints.rs +++ b/src/dynamics/solver/solver_constraints.rs @@ -318,18 +318,8 @@ impl SolverConstraints { ); self.velocity_constraints.push(vel_constraint); - if let Some(pos_constraint) = - AnyJointPositionConstraint::from_wide_joint_ground(joints, bodies) - { - self.position_constraints.push(pos_constraint); - } else { - for joint in joints.iter() { - self.position_constraints - .push(AnyJointPositionConstraint::from_joint_ground( - *joint, bodies, - )) - } - } + let pos_constraint = AnyJointPositionConstraint::from_wide_joint_ground(joints, bodies); + self.position_constraints.push(pos_constraint); } } @@ -367,16 +357,8 @@ impl SolverConstraints { AnyJointVelocityConstraint::from_wide_joint(params, joints_id, joints, bodies); self.velocity_constraints.push(vel_constraint); - if let Some(pos_constraint) = - AnyJointPositionConstraint::from_wide_joint(joints, bodies) - { - self.position_constraints.push(pos_constraint); - } else { - for joint in joints.iter() { - self.position_constraints - .push(AnyJointPositionConstraint::from_joint(*joint, bodies)) - } - } + let pos_constraint = AnyJointPositionConstraint::from_wide_joint(joints, bodies); + self.position_constraints.push(pos_constraint); } } } -- cgit