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