Update to nalgebra 0.29

5 files changed, 29 insertions, 26 deletions

diff --git a/src/dynamics/solver/delta_vel.rs b/src/dynamics/solver/delta_vel.rs
index b50cb76..b457020 100644
--- a/src/dynamics/solver/delta_vel.rs
+++ b/src/dynamics/solver/delta_vel.rs
@@ -9,7 +9,7 @@ pub(crate) struct DeltaVel<N: Scalar + Copy> {
     pub angular: AngVector<N>,
 }
 
-impl<N: SimdRealField> DeltaVel<N> {
+impl<N: SimdRealField + Copy> DeltaVel<N> {
     pub fn zero() -> Self {
         Self {
             linear: na::zero(),
@@ -18,7 +18,7 @@ impl<N: SimdRealField> DeltaVel<N> {
     }
 }
 
-impl<N: SimdRealField> AddAssign for DeltaVel<N> {
+impl<N: SimdRealField + Copy> AddAssign for DeltaVel<N> {
     fn add_assign(&mut self, rhs: Self) {
         self.linear += rhs.linear;
         self.angular += rhs.angular;
diff --git a/src/dynamics/solver/parallel_island_solver.rs b/src/dynamics/solver/parallel_island_solver.rs
index d173ed4..be7ea6d 100644
--- a/src/dynamics/solver/parallel_island_solver.rs
+++ b/src/dynamics/solver/parallel_island_solver.rs
@@ -1,4 +1,7 @@
-use super::{DeltaVel, ParallelInteractionGroups, ParallelVelocitySolver};
+use std::sync::atomic::{AtomicUsize, Ordering};
+
+use rayon::Scope;
+
 use crate::data::{BundleSet, ComponentSet, ComponentSetMut};
 use crate::dynamics::solver::{
     AnyJointPositionConstraint, AnyJointVelocityConstraint, AnyPositionConstraint,
@@ -12,8 +15,8 @@ use crate::dynamics::{
 use crate::geometry::{ContactManifold, ContactManifoldIndex};
 use crate::math::{Isometry, Real};
 use crate::utils::WAngularInertia;
-use rayon::Scope;
-use std::sync::atomic::{AtomicUsize, Ordering};
+
+use super::{DeltaVel, ParallelInteractionGroups, ParallelVelocitySolver};
 
 #[macro_export]
 #[doc(hidden)]
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index 90c574c..0d82f81 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -373,8 +373,8 @@ pub(crate) fn compute_tangent_contact_directions<N>(
     linvel2: &Vector<N>,
 ) -> ([Vector<N>; DIM - 1], na::UnitComplex<N>)
 where
-    N: na::SimdRealField,
-    N::Element: na::RealField,
+    N: na::SimdRealField + Copy,
+    N::Element: na::RealField + Copy,
     Vector<N>: WBasis,
 {
     use na::SimdValue;
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")]
diff --git a/src/dynamics/solver/velocity_ground_constraint_element.rs b/src/dynamics/solver/velocity_ground_constraint_element.rs
index edf84c7..2d4d633 100644
--- a/src/dynamics/solver/velocity_ground_constraint_element.rs
+++ b/src/dynamics/solver/velocity_ground_constraint_element.rs
@@ -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")]