nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Use WReal instead of SimdRealField everywhere

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

17
src/dynamics/solver/velocity_constraint_element.rs
View File

@@ -1,10 +1,9 @@
use super::DeltaVel;
use crate::math::{AngVector, Vector, DIM};
use crate::utils::{WBasis, WDot};
use na::SimdRealField;
use crate::utils::{WBasis, WDot, WReal};
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintTangentPart<N: SimdRealField + Copy> {
pub(crate) struct VelocityConstraintTangentPart<N: WReal> {
pub gcross1: [AngVector<N>; DIM - 1],
pub gcross2: [AngVector<N>; DIM - 1],
pub rhs: [N; DIM - 1],
@@ -18,7 +17,7 @@ pub(crate) struct VelocityConstraintTangentPart<N: SimdRealField + Copy> {
pub r: [N; DIM],
}
impl<N: SimdRealField + Copy> VelocityConstraintTangentPart<N> {
impl<N: WReal> VelocityConstraintTangentPart<N> {
fn zero() -> Self {
Self {
gcross1: [na::zero(); DIM - 1],
@@ -43,7 +42,6 @@ impl<N: SimdRealField + Copy> VelocityConstraintTangentPart<N> {
mj_lambda2: &mut DeltaVel<N>,
) where
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField + Copy,
{
#[cfg(feature = "dim2")]
{
@@ -107,7 +105,7 @@ impl<N: SimdRealField + Copy> VelocityConstraintTangentPart<N> {
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintNormalPart<N: SimdRealField + Copy> {
pub(crate) struct VelocityConstraintNormalPart<N: WReal> {
pub gcross1: AngVector<N>,
pub gcross2: AngVector<N>,
pub rhs: N,
@@ -116,7 +114,7 @@ pub(crate) struct VelocityConstraintNormalPart<N: SimdRealField + Copy> {
pub r: N,
}
impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
impl<N: WReal> VelocityConstraintNormalPart<N> {
fn zero() -> Self {
Self {
gcross1: na::zero(),
@@ -157,12 +155,12 @@ impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintElement<N: SimdRealField + Copy> {
pub(crate) struct VelocityConstraintElement<N: WReal> {
pub normal_part: VelocityConstraintNormalPart<N>,
pub tangent_part: VelocityConstraintTangentPart<N>,
}
impl<N: SimdRealField + Copy> VelocityConstraintElement<N> {
impl<N: WReal> VelocityConstraintElement<N> {
pub fn zero() -> Self {
Self {
normal_part: VelocityConstraintNormalPart::zero(),
@@ -186,7 +184,6 @@ impl<N: SimdRealField + Copy> VelocityConstraintElement<N> {
) where
Vector<N>: WBasis,
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField + Copy,
{
// Solve penetration.
if solve_normal {