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use crate::dynamics::solver::joint_constraint::joint_generic_constraint::{
JointGenericOneBodyConstraint, JointGenericTwoBodyConstraint,
};
use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
JointOneBodyConstraint, JointTwoBodyConstraint,
};
use crate::dynamics::solver::{AnyConstraintMut, ConstraintTypes};
use crate::dynamics::JointGraphEdge;
use crate::math::Real;
use na::DVector;
use crate::dynamics::solver::joint_constraint::joint_generic_constraint_builder::{
JointGenericOneBodyConstraintBuilder, JointGenericTwoBodyConstraintBuilder,
};
use crate::dynamics::solver::solver_vel::SolverVel;
#[cfg(feature = "simd-is-enabled")]
use crate::{
dynamics::solver::joint_constraint::joint_constraint_builder::{
JointOneBodyConstraintBuilderSimd, JointTwoBodyConstraintBuilderSimd,
},
math::{SimdReal, SIMD_WIDTH},
};
use crate::dynamics::solver::joint_constraint::joint_constraint_builder::{
JointOneBodyConstraintBuilder, JointTwoBodyConstraintBuilder,
};
pub struct JointConstraintTypes;
impl AnyConstraintMut<'_, JointConstraintTypes> {
pub fn remove_bias(&mut self) {
match self {
Self::OneBody(c) => c.remove_bias_from_rhs(),
Self::TwoBodies(c) => c.remove_bias_from_rhs(),
Self::GenericOneBody(c) => c.remove_bias_from_rhs(),
Self::GenericTwoBodies(c) => c.remove_bias_from_rhs(),
#[cfg(feature = "simd-is-enabled")]
Self::SimdOneBody(c) => c.remove_bias_from_rhs(),
#[cfg(feature = "simd-is-enabled")]
Self::SimdTwoBodies(c) => c.remove_bias_from_rhs(),
}
}
pub fn solve(
&mut self,
generic_jacobians: &DVector<Real>,
solver_vels: &mut [SolverVel<Real>],
generic_solver_vels: &mut DVector<Real>,
) {
match self {
Self::OneBody(c) => c.solve(solver_vels),
Self::TwoBodies(c) => c.solve(solver_vels),
Self::GenericOneBody(c) => c.solve(generic_jacobians, solver_vels, generic_solver_vels),
Self::GenericTwoBodies(c) => {
c.solve(generic_jacobians, solver_vels, generic_solver_vels)
}
#[cfg(feature = "simd-is-enabled")]
Self::SimdOneBody(c) => c.solve(solver_vels),
#[cfg(feature = "simd-is-enabled")]
Self::SimdTwoBodies(c) => c.solve(solver_vels),
}
}
pub fn writeback_impulses(&mut self, joints_all: &mut [JointGraphEdge]) {
match self {
Self::OneBody(c) => c.writeback_impulses(joints_all),
Self::TwoBodies(c) => c.writeback_impulses(joints_all),
Self::GenericOneBody(c) => c.writeback_impulses(joints_all),
Self::GenericTwoBodies(c) => c.writeback_impulses(joints_all),
#[cfg(feature = "simd-is-enabled")]
Self::SimdOneBody(c) => c.writeback_impulses(joints_all),
#[cfg(feature = "simd-is-enabled")]
Self::SimdTwoBodies(c) => c.writeback_impulses(joints_all),
}
}
}
impl ConstraintTypes for JointConstraintTypes {
type OneBody = JointOneBodyConstraint<Real, 1>;
type TwoBodies = JointTwoBodyConstraint<Real, 1>;
type GenericOneBody = JointGenericOneBodyConstraint;
type GenericTwoBodies = JointGenericTwoBodyConstraint;
#[cfg(feature = "simd-is-enabled")]
type SimdOneBody = JointOneBodyConstraint<SimdReal, SIMD_WIDTH>;
#[cfg(feature = "simd-is-enabled")]
type SimdTwoBodies = JointTwoBodyConstraint<SimdReal, SIMD_WIDTH>;
type BuilderOneBody = JointOneBodyConstraintBuilder;
type BuilderTwoBodies = JointTwoBodyConstraintBuilder;
type GenericBuilderOneBody = JointGenericOneBodyConstraintBuilder;
type GenericBuilderTwoBodies = JointGenericTwoBodyConstraintBuilder;
#[cfg(feature = "simd-is-enabled")]
type SimdBuilderOneBody = JointOneBodyConstraintBuilderSimd;
#[cfg(feature = "simd-is-enabled")]
type SimdBuilderTwoBodies = JointTwoBodyConstraintBuilderSimd;
}
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