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Rebase on master branch

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This commit is contained in:
Sébastien Crozet
2022-03-06 11:32:25 +01:00
committed by Sébastien Crozet
parent 815de4beff
commit 891c08177d
13 changed files with 199 additions and 181 deletions
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4
src/dynamics/solver/velocity_constraint.rs
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@@ -7,7 +7,7 @@ use crate::dynamics::solver::{WVelocityConstraint, WVelocityGroundConstraint};
use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyVelocity};
use crate::geometry::{ContactManifold, ContactManifoldIndex};
use crate::math::{Real, Vector, DIM, MAX_MANIFOLD_POINTS};
use crate::utils::{self, WAngularInertia, WBasis, WCross, WDot, WReal};
use crate::utils::{self, WAngularInertia, WBasis, WCross, WDot};
use na::DVector;
use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart};
@@ -405,7 +405,7 @@ pub(crate) fn compute_tangent_contact_directions<N>(
linvel2: &Vector<N>,
) -> [Vector<N>; DIM - 1]
where
N: WReal,
N: utils::WReal,
Vector<N>: WBasis,
{
use na::SimdValue;