path: root/src/dynamics/solver/joint_constraint/joint_constraint_builder.rs

use crate::dynamics::solver::joint_constraint::joint_velocity_constraint::{
    JointFixedSolverBody, JointOneBodyConstraint, JointTwoBodyConstraint, WritebackId,
};
use crate::dynamics::solver::joint_constraint::JointSolverBody;
use crate::dynamics::solver::solver_body::SolverBody;
use crate::dynamics::solver::ConstraintsCounts;
use crate::dynamics::solver::MotorParameters;
use crate::dynamics::{GenericJoint, ImpulseJoint, IntegrationParameters, JointIndex};
use crate::math::{AngVector, Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM};
use crate::prelude::RigidBodySet;
use crate::utils;
use crate::utils::{IndexMut2, SimdCrossMatrix, SimdDot, SimdRealCopy};
use na::SMatrix;

#[cfg(feature = "dim3")]
use crate::utils::{SimdBasis, SimdQuat};

#[cfg(feature = "simd-is-enabled")]
use crate::math::{SimdReal,