diff options
Diffstat (limited to 'src/utils.rs')
| -rw-r--r-- | src/utils.rs | 15 |
1 files changed, 7 insertions, 8 deletions
diff --git a/src/utils.rs b/src/utils.rs index 4089631..48414bc 100644 --- a/src/utils.rs +++ b/src/utils.rs @@ -5,6 +5,7 @@ use na::{Matrix2, Matrix3, Matrix3x2, Point2, Point3, Scalar, SimdRealField, Vec use num::Zero; use simba::simd::SimdValue; +use eagl::utils::SdpMatrix3; use std::ops::{Add, Mul}; use { crate::math::{AngularInertia, SimdBool, SimdReal}, @@ -468,8 +469,7 @@ impl WAngularInertia<SimdReal> for SimdReal { } } -#[cfg(feature = "dim3")] -impl WAngularInertia<f32> for AngularInertia<f32> { +impl WAngularInertia<f32> for SdpMatrix3<f32> { type AngVector = Vector3<f32>; type LinVector = Vector3<f32>; type AngMatrix = Matrix3<f32>; @@ -485,7 +485,7 @@ impl WAngularInertia<f32> for AngularInertia<f32> { if determinant.is_zero() { Self::zero() } else { - AngularInertia { + SdpMatrix3 { m11: minor_m12_m23 / determinant, m12: -minor_m11_m23 / determinant, m13: minor_m11_m22 / determinant, @@ -497,7 +497,7 @@ impl WAngularInertia<f32> for AngularInertia<f32> { } fn squared(&self) -> Self { - AngularInertia { + SdpMatrix3 { m11: self.m11 * self.m11 + self.m12 * self.m12 + self.m13 * self.m13, m12: self.m11 * self.m12 + self.m12 * self.m22 + self.m13 * self.m23, m13: self.m11 * self.m13 + self.m12 * self.m23 + self.m13 * self.m33, @@ -533,8 +533,7 @@ impl WAngularInertia<f32> for AngularInertia<f32> { } } -#[cfg(feature = "dim3")] -impl WAngularInertia<SimdReal> for AngularInertia<SimdReal> { +impl WAngularInertia<SimdReal> for SdpMatrix3<SimdReal> { type AngVector = Vector3<SimdReal>; type LinVector = Vector3<SimdReal>; type AngMatrix = Matrix3<SimdReal>; @@ -551,7 +550,7 @@ impl WAngularInertia<SimdReal> for AngularInertia<SimdReal> { let is_zero = determinant.simd_eq(zero); let inv_det = (<SimdReal>::one() / determinant).select(is_zero, zero); - AngularInertia { + SdpMatrix3 { m11: minor_m12_m23 * inv_det, m12: -minor_m11_m23 * inv_det, m13: minor_m11_m22 * inv_det, @@ -573,7 +572,7 @@ impl WAngularInertia<SimdReal> for AngularInertia<SimdReal> { } fn squared(&self) -> Self { - AngularInertia { + SdpMatrix3 { m11: self.m11 * self.m11 + self.m12 * self.m12 + self.m13 * self.m13, m12: self.m11 * self.m12 + self.m12 * self.m22 + self.m13 * self.m23, m13: self.m11 * self.m13 + self.m12 * self.m23 + self.m13 * self.m33, |