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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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17
src/dynamics/solver/velocity_ground_constraint_element.rs
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@@ -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 VelocityGroundConstraintTangentPart<N: SimdRealField + Copy> {
pub(crate) struct VelocityGroundConstraintTangentPart<N: WReal> {
pub gcross2: [AngVector<N>; DIM - 1],
pub rhs: [N; DIM - 1],
#[cfg(feature = "dim2")]
@@ -17,7 +16,7 @@ pub(crate) struct VelocityGroundConstraintTangentPart<N: SimdRealField + Copy> {
pub r: [N; DIM],
}
impl<N: SimdRealField + Copy> VelocityGroundConstraintTangentPart<N> {
impl<N: WReal> VelocityGroundConstraintTangentPart<N> {
fn zero() -> Self {
Self {
gcross2: [na::zero(); DIM - 1],
@@ -39,7 +38,6 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintTangentPart<N> {
mj_lambda2: &mut DeltaVel<N>,
) where
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField + Copy,
{
#[cfg(feature = "dim2")]
{
@@ -89,7 +87,7 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintTangentPart<N> {
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraintNormalPart<N: SimdRealField + Copy> {
pub(crate) struct VelocityGroundConstraintNormalPart<N: WReal> {
pub gcross2: AngVector<N>,
pub rhs: N,
pub rhs_wo_bias: N,
@@ -97,7 +95,7 @@ pub(crate) struct VelocityGroundConstraintNormalPart<N: SimdRealField + Copy> {
pub r: N,
}
impl<N: SimdRealField + Copy> VelocityGroundConstraintNormalPart<N> {
impl<N: WReal> VelocityGroundConstraintNormalPart<N> {
fn zero() -> Self {
Self {
gcross2: na::zero(),
@@ -129,12 +127,12 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintNormalPart<N> {
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraintElement<N: SimdRealField + Copy> {
pub(crate) struct VelocityGroundConstraintElement<N: WReal> {
pub normal_part: VelocityGroundConstraintNormalPart<N>,
pub tangent_part: VelocityGroundConstraintTangentPart<N>,
}
impl<N: SimdRealField + Copy> VelocityGroundConstraintElement<N> {
impl<N: WReal> VelocityGroundConstraintElement<N> {
pub fn zero() -> Self {
Self {
normal_part: VelocityGroundConstraintNormalPart::zero(),
@@ -156,7 +154,6 @@ impl<N: SimdRealField + Copy> VelocityGroundConstraintElement<N> {
) where
Vector<N>: WBasis,
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField + Copy,
{
// Solve penetration.
if solve_normal {