Update to nalgebra 0.29

1 files changed, 10 insertions, 10 deletions

diff --git a/src/dynamics/solver/velocity_constraint_element.rs b/src/dynamics/solver/velocity_constraint_element.rs
index b1c244a..cb6d476 100644
--- a/src/dynamics/solver/velocity_constraint_element.rs
+++ b/src/dynamics/solver/velocity_constraint_element.rs
@@ -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")]