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Use WReal instead of SimdRealField everywhere

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This commit is contained in:
Sébastien Crozet
2022-02-21 21:19:30 +01:00
parent 19a00885d6
commit 15b165893c
7 changed files with 41 additions and 56 deletions
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9
src/dynamics/solver/velocity_constraint.rs
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@@ -5,7 +5,7 @@ use crate::dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyVelocity};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{Real, Vector, DIM, MAX_MANIFOLD_POINTS};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot};
use crate::utils::{WAngularInertia, WBasis, WCross, WDot, WReal};
use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart};
@@ -373,8 +373,7 @@ pub(crate) fn compute_tangent_contact_directions<N>(
linvel2: &Vector<N>,
) -> [Vector<N>; DIM - 1]
where
N: na::SimdRealField + Copy,
N::Element: na::RealField + Copy,
N: WReal,
Vector<N>: WBasis,
{
use na::SimdValue;
@@ -392,8 +391,8 @@ where
tangent_relative_linvel.normalize_mut()
};
let threshold: N::Element = na::convert(1.0e-4);
let use_fallback = tangent_linvel_norm.simd_lt(N::splat(threshold));
const THRESHOLD: Real = 1.0e-4;
let use_fallback = tangent_linvel_norm.simd_lt(N::splat(THRESHOLD));
let tangent_fallback = force_dir1.orthonormal_vector();
let tangent1 = tangent_fallback.select(use_fallback, tangent_relative_linvel);