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use super::{GenericPositionConstraint, GenericPositionGroundConstraint};
use crate::dynamics::{GenericJoint, IntegrationParameters, RigidBody};
use crate::math::{Isometry, Real, SIMD_WIDTH};
// TODO: this does not uses SIMD optimizations yet.
#[derive(Debug)]
pub(crate) struct WGenericPositionConstraint {
constraints: [GenericPositionConstraint; SIMD_WIDTH],
}
impl WGenericPositionConstraint {
pub fn from_params(
rbs1: [&RigidBody; SIMD_WIDTH],
rbs2: [&RigidBody; SIMD_WIDTH],
cparams: [&GenericJoint; SIMD_WIDTH],
) -> Self {
Self {
constraints: gather![|ii| GenericPositionConstraint::from_params(
rbs1[ii],
rbs2[ii],
cparams[ii]
)],
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
for constraint in &self.constraints {
constraint.solve(params, positions);
}
}
}
#[derive(Debug)]
pub(crate) struct WGenericPositionGroundConstraint {
constraints: [GenericPositionGroundConstraint; SIMD_WIDTH],
}
impl WGenericPositionGroundConstraint {
pub fn from_params(
rbs1: [&RigidBody; SIMD_WIDTH],
rbs2: [&RigidBody; SIMD_WIDTH],
cparams: [&GenericJoint; SIMD_WIDTH],
flipped: [bool; SIMD_WIDTH],
) -> Self {
Self {
constraints: gather![|ii| GenericPositionGroundConstraint::from_params(
rbs1[ii],
rbs2[ii],
cparams[ii],
flipped[ii]
)],
}
}
pub fn solve(&self, params: &IntegrationParameters, positions: &mut [Isometry<Real>]) {
for constraint in &self.constraints {
constraint.solve(params, positions);
}
}
}
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