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| author | Crozet Sébastien <developer@crozet.re> | 2021-01-04 15:14:25 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-01-04 15:14:25 +0100 |
| commit | aa61fe65e3ff0289ecab57b4053a3410cf6d4a87 (patch) | |
| tree | a2ab513f43d779e4eb1c0edcd2a6e734b3fa4470 /src/dynamics/solver/velocity_constraint_wide.rs | |
| parent | a1aa8855f76168d8af14244a54c9f28d15696342 (diff) | |
| download | rapier-aa61fe65e3ff0289ecab57b4053a3410cf6d4a87.tar.gz rapier-aa61fe65e3ff0289ecab57b4053a3410cf6d4a87.tar.bz2 rapier-aa61fe65e3ff0289ecab57b4053a3410cf6d4a87.zip | |
Add support of 64-bits reals.
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index c75d926..b86e6a6 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -2,7 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel}; use crate::dynamics::{IntegrationParameters, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::math::{ - AngVector, AngularInertia, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH, + AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH, }; use crate::utils::{WAngularInertia, WBasis, WCross, WDot}; use num::Zero; @@ -199,7 +199,7 @@ impl WVelocityConstraint { } } - pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<f32>]) { + pub fn warmstart(&self, mj_lambdas: &mut [DeltaVel<Real>]) { let mut mj_lambda1 = DeltaVel { linear: Vector::from( array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH], @@ -249,7 +249,7 @@ impl WVelocityConstraint { } } - pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<f32>]) { + pub fn solve(&mut self, mj_lambdas: &mut [DeltaVel<Real>]) { let mut mj_lambda1 = DeltaVel { linear: Vector::from( array![|ii| mj_lambdas[self.mj_lambda1[ii] as usize].linear; SIMD_WIDTH], |