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Diffstat (limited to 'src/dynamics/solver/velocity_constraint.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 9 |
1 files changed, 4 insertions, 5 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index bb00b66..5711518 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -5,7 +5,7 @@ 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::{WAngularInertia, WBasis, WCross, WDot}; +use crate::utils::{WAngularInertia, WBasis, WCross, WDot, WReal}; use super::{DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart}; @@ -373,8 +373,7 @@ pub(crate) fn compute_tangent_contact_directions<N>( linvel2: &Vector<N>, ) -> [Vector<N>; DIM - 1] where - N: na::SimdRealField + Copy, - N::Element: na::RealField + Copy, + N: WReal, Vector<N>: WBasis, { use na::SimdValue; @@ -392,8 +391,8 @@ where tangent_relative_linvel.normalize_mut() }; - let threshold: N::Element = na::convert(1.0e-4); - let use_fallback = tangent_linvel_norm.simd_lt(N::splat(threshold)); + const THRESHOLD: Real = 1.0e-4; + let use_fallback = tangent_linvel_norm.simd_lt(N::splat(THRESHOLD)); let tangent_fallback = force_dir1.orthonormal_vector(); let tangent1 = tangent_fallback.select(use_fallback, tangent_relative_linvel); |