From 15b165893c718a5606622b05b36f8041a429e30c Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <developer@crozet.re>
Date: Mon, 21 Feb 2022 21:19:30 +0100
Subject: Use WReal instead of SimdRealField everywhere

---
 .../solver/joint_constraint/joint_velocity_constraint.rs      | 11 +++++------
 .../joint_constraint/joint_velocity_constraint_builder.rs     |  3 +--
 2 files changed, 6 insertions(+), 8 deletions(-)

(limited to 'src/dynamics/solver/joint_constraint')

diff --git a/src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs
index a4ec313..d264313 100644
--- a/src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs
+++ b/src/dynamics/solver/joint_constraint/joint_velocity_constraint.rs
@@ -3,7 +3,6 @@ use crate::dynamics::solver::DeltaVel;
 use crate::dynamics::{IntegrationParameters, JointData, JointGraphEdge, JointIndex};
 use crate::math::{AngVector, AngularInertia, Isometry, Point, Real, Vector, DIM, SPATIAL_DIM};
 use crate::utils::{WDot, WReal};
-use simba::simd::SimdRealField;
 
 #[cfg(feature = "simd-is-enabled")]
 use {
@@ -12,7 +11,7 @@ use {
 };
 
 #[derive(Copy, Clone, PartialEq, Debug)]
-pub struct MotorParameters<N: SimdRealField> {
+pub struct MotorParameters<N: WReal> {
     pub stiffness: N,
     pub damping: N,
     pub gamma: N,
@@ -22,7 +21,7 @@ pub struct MotorParameters<N: SimdRealField> {
     pub max_impulse: N,
 }
 
-impl<N: SimdRealField> Default for MotorParameters<N> {
+impl<N: WReal> Default for MotorParameters<N> {
     fn default() -> Self {
         Self {
             stiffness: N::zero(),
@@ -48,7 +47,7 @@ pub enum WritebackId {
 // the solver, to avoid fetching data from the rigid-body set
 // every time.
 #[derive(Copy, Clone)]
-pub struct SolverBody<N: SimdRealField, const LANES: usize> {
+pub struct SolverBody<N: WReal, const LANES: usize> {
     pub linvel: Vector<N>,
     pub angvel: AngVector<N>,
     pub im: Vector<N>,
@@ -58,7 +57,7 @@ pub struct SolverBody<N: SimdRealField, const LANES: usize> {
 }
 
 #[derive(Debug, Copy, Clone)]
-pub struct JointVelocityConstraint<N: SimdRealField, const LANES: usize> {
+pub struct JointVelocityConstraint<N: WReal, const LANES: usize> {
     pub mj_lambda1: [usize; LANES],
     pub mj_lambda2: [usize; LANES],
 
@@ -339,7 +338,7 @@ impl JointVelocityConstraint<SimdReal, SIMD_WIDTH> {
 }
 
 #[derive(Debug, Copy, Clone)]
-pub struct JointVelocityGroundConstraint<N: SimdRealField, const LANES: usize> {
+pub struct JointVelocityGroundConstraint<N: WReal, const LANES: usize> {
     pub mj_lambda2: [usize; LANES],
 
     pub joint_id: [JointIndex; LANES],
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>,
-- 
cgit