diff options
Diffstat (limited to 'src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs')
| -rw-r--r-- | src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs | 3 |
1 files changed, 1 insertions, 2 deletions
diff --git a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs index 55a112a..3aa00f2 100644 --- a/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs +++ b/src/dynamics/solver/joint_constraint/joint_velocity_constraint_builder.rs @@ -7,10 +7,9 @@ use crate::dynamics::{IntegrationParameters, JointIndex}; use crate::math::{Isometry, Matrix, Point, Real, Rotation, Vector, ANG_DIM, DIM}; use crate::utils::{IndexMut2, WCrossMatrix, WDot, WQuat, WReal}; use na::SMatrix; -use simba::simd::SimdRealField; #[derive(Debug, Copy, Clone)] -pub struct JointVelocityConstraintBuilder<N: SimdRealField> { +pub struct JointVelocityConstraintBuilder<N: WReal> { pub basis: Matrix<N>, pub cmat1_basis: SMatrix<N, ANG_DIM, DIM>, pub cmat2_basis: SMatrix<N, ANG_DIM, DIM>, |