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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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18
src/dynamics/solver/velocity_ground_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 VelocityGroundConstraintTangentPart<N: SimdRealField> {
pub(crate) struct VelocityGroundConstraintTangentPart<N: SimdRealField + Copy> {
pub gcross2: [AngVector<N>; DIM - 1],
pub rhs: [N; DIM - 1],
#[cfg(feature = "dim2")]
@@ -14,7 +14,7 @@ pub(crate) struct VelocityGroundConstraintTangentPart<N: SimdRealField> {
pub r: [N; DIM - 1],
}
impl<N: SimdRealField> VelocityGroundConstraintTangentPart<N> {
impl<N: SimdRealField + Copy> VelocityGroundConstraintTangentPart<N> {
#[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
fn zero() -> Self {
Self {
@@ -50,7 +50,7 @@ impl<N: SimdRealField> VelocityGroundConstraintTangentPart<N> {
mj_lambda2: &mut DeltaVel<N>,
) where
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField,
N::Element: SimdRealField + Copy,
{
#[cfg(feature = "dim2")]
{
@@ -96,14 +96,14 @@ impl<N: SimdRealField> VelocityGroundConstraintTangentPart<N> {
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraintNormalPart<N: SimdRealField> {
pub(crate) struct VelocityGroundConstraintNormalPart<N: SimdRealField + Copy> {
pub gcross2: AngVector<N>,
pub rhs: N,
pub impulse: N,
pub r: N,
}
impl<N: SimdRealField> VelocityGroundConstraintNormalPart<N> {
impl<N: SimdRealField + Copy> VelocityGroundConstraintNormalPart<N> {
#[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
fn zero() -> Self {
Self {
@@ -137,12 +137,12 @@ impl<N: SimdRealField> VelocityGroundConstraintNormalPart<N> {
}
#[derive(Copy, Clone, Debug)]
pub(crate) struct VelocityGroundConstraintElement<N: SimdRealField> {
pub(crate) struct VelocityGroundConstraintElement<N: SimdRealField + Copy> {
pub normal_part: VelocityGroundConstraintNormalPart<N>,
pub tangent_part: VelocityGroundConstraintTangentPart<N>,
}
impl<N: SimdRealField> VelocityGroundConstraintElement<N> {
impl<N: SimdRealField + Copy> VelocityGroundConstraintElement<N> {
#[cfg(any(not(target_arch = "wasm32"), feature = "simd-is-enabled"))]
pub fn zero() -> Self {
Self {
@@ -161,7 +161,7 @@ impl<N: SimdRealField> VelocityGroundConstraintElement<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)];
@@ -185,7 +185,7 @@ impl<N: SimdRealField> VelocityGroundConstraintElement<N> {
) where
Vector<N>: WBasis,
AngVector<N>: WDot<AngVector<N>, Result = N>,
N::Element: SimdRealField,
N::Element: SimdRealField + Copy,
{
// Solve friction.
#[cfg(feature = "dim3")]