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Update to nalgebra 0.29

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This commit is contained in:
Sébastien Crozet
2021-08-08 18:39:04 +02:00
committed by Sébastien Crozet
parent 13aebc4242
commit 57aec69c1e
6 changed files with 31 additions and 28 deletions
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20
src/dynamics/solver/velocity_constraint_element.rs
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@@ -4,7 +4,7 @@ use crate::utils::{WBasis, WDot};
use na::SimdRealField;
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintTangentPart<N: SimdRealField> {
pub(crate) struct VelocityConstraintTangentPart<N: SimdRealField + Copy> {
pub gcross1: [AngVector<N>; DIM - 1],
pub gcross2: [AngVector<N>; DIM - 1],
pub rhs: [N; DIM - 1],
@@ -15,7 +15,7 @@ pub(crate) struct VelocityConstraintTangentPart<N: SimdRealField> {
pub r: [N; DIM - 1],
}
impl<N: SimdRealField> VelocityConstraintTangentPart<N> {
impl<N: SimdRealField + Copy> VelocityConstraintTangentPart<N> {
#[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
fn zero() -> Self {
Self {
@@ -40,7 +40,7 @@ impl<N: SimdRealField> VelocityConstraintTangentPart<N> {
mj_lambda2: &mut DeltaVel<N>,
) where
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField,
N::Element: SimdRealField + Copy,
{
for j in 0..DIM - 1 {
mj_lambda1.linear += tangents1[j] * (im1 * self.impulse[j]);
@@ -62,7 +62,7 @@ impl<N: SimdRealField> VelocityConstraintTangentPart<N> {
mj_lambda2: &mut DeltaVel<N>,
) where
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField,
N::Element: SimdRealField + Copy,
{
#[cfg(feature = "dim2")]
{
@@ -121,7 +121,7 @@ impl<N: SimdRealField> VelocityConstraintTangentPart<N> {
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintNormalPart<N: SimdRealField> {
pub(crate) struct VelocityConstraintNormalPart<N: SimdRealField + Copy> {
pub gcross1: AngVector<N>,
pub gcross2: AngVector<N>,
pub rhs: N,
@@ -129,7 +129,7 @@ pub(crate) struct VelocityConstraintNormalPart<N: SimdRealField> {
pub r: N,
}
impl<N: SimdRealField> VelocityConstraintNormalPart<N> {
impl<N: SimdRealField + Copy> VelocityConstraintNormalPart<N> {
#[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
fn zero() -> Self {
Self {
@@ -187,12 +187,12 @@ impl<N: SimdRealField> VelocityConstraintNormalPart<N> {
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityConstraintElement<N: SimdRealField> {
pub(crate) struct VelocityConstraintElement<N: SimdRealField + Copy> {
pub normal_part: VelocityConstraintNormalPart<N>,
pub tangent_part: VelocityConstraintTangentPart<N>,
}
impl<N: SimdRealField> VelocityConstraintElement<N> {
impl<N: SimdRealField + Copy> VelocityConstraintElement<N> {
#[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
pub fn zero() -> Self {
Self {
@@ -213,7 +213,7 @@ impl<N: SimdRealField> VelocityConstraintElement<N> {
) where
Vector<N>: WBasis,
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField,
N::Element: SimdRealField + Copy,
{
#[cfg(feature = "dim3")]
let tangents1 = [tangent1, &dir1.cross(&tangent1)];
@@ -243,7 +243,7 @@ impl<N: SimdRealField> VelocityConstraintElement<N> {
) where
Vector<N>: WBasis,
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField,
N::Element: SimdRealField + Copy,
{
// Solve friction.
#[cfg(feature = "dim3")]