Add support of 64-bits reals.

2021-01-04 15:14:25 +01:00
parent a1aa8855f7
commit aa61fe65e3
55 changed files with 656 additions and 518 deletions
--- a/src/dynamics/solver/velocity_solver.rs
+++ b/src/dynamics/solver/velocity_solver.rs
@@ -4,10 +4,11 @@ use crate::dynamics::{
    IntegrationParameters, JointGraphEdge, RigidBodySet,
 };
 use crate::geometry::ContactManifold;
+use crate::math::Real;
 use crate::utils::WAngularInertia;

 pub(crate) struct VelocitySolver {
-    pub mj_lambdas: Vec<DeltaVel<f32>>,
+    pub mj_lambdas: Vec<DeltaVel<Real>>,
 }

 impl VelocitySolver {