From 9b5ccb95e74350d4fb3b4bc2c4c9fbf9fb4943a2 Mon Sep 17 00:00:00 2001 From: Sébastien Crozet Date: Sun, 15 Jan 2023 11:59:15 +0100 Subject: Update dependencies --- src/dynamics/solver/delta_vel.rs | 10 ++++----- .../joint_generic_velocity_constraint.rs | 26 +++++++++++----------- 2 files changed, 18 insertions(+), 18 deletions(-) (limited to 'src/dynamics/solver') diff --git a/src/dynamics/solver/delta_vel.rs b/src/dynamics/solver/delta_vel.rs index cfdb791..2fc92f0 100644 --- a/src/dynamics/solver/delta_vel.rs +++ b/src/dynamics/solver/delta_vel.rs @@ -1,6 +1,6 @@ use crate::math::{AngVector, Vector, SPATIAL_DIM}; use crate::utils::WReal; -use na::{DVectorSlice, DVectorSliceMut, Scalar}; +use na::{DVectorView, DVectorViewMut, Scalar}; use std::ops::{AddAssign, Sub}; #[derive(Copy, Clone, Debug, Default)] @@ -20,12 +20,12 @@ impl DeltaVel { unsafe { std::mem::transmute(self) } } - pub fn as_vector_slice(&self) -> DVectorSlice { - DVectorSlice::from_slice(&self.as_slice()[..], SPATIAL_DIM) + pub fn as_vector_slice(&self) -> DVectorView { + DVectorView::from_slice(&self.as_slice()[..], SPATIAL_DIM) } - pub fn as_vector_slice_mut(&mut self) -> DVectorSliceMut { - DVectorSliceMut::from_slice(&mut self.as_mut_slice()[..], SPATIAL_DIM) + pub fn as_vector_slice_mut(&mut self) -> DVectorViewMut { + DVectorViewMut::from_slice(&mut self.as_mut_slice()[..], SPATIAL_DIM) } } diff --git a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs index 4f26a73..8c83f58 100644 --- a/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs +++ b/src/dynamics/solver/joint_constraint/joint_generic_velocity_constraint.rs @@ -4,7 +4,7 @@ use crate::dynamics::solver::DeltaVel; use crate::dynamics::{GenericJoint, IntegrationParameters, JointGraphEdge, JointIndex, Multibody}; use crate::math::{Isometry, Real, DIM}; use crate::prelude::SPATIAL_DIM; -use na::{DVector, DVectorSlice, DVectorSliceMut}; +use na::{DVector, DVectorView, DVectorViewMut}; #[derive(Debug, Copy, Clone)] pub struct JointGenericVelocityConstraint { @@ -222,7 +222,7 @@ impl JointGenericVelocityConstraint { &self, mj_lambdas: &'a [DeltaVel], generic_mj_lambdas: &'a DVector, - ) -> DVectorSlice<'a, Real> { + ) -> DVectorView<'a, Real> { if self.is_rigid_body1 { mj_lambdas[self.mj_lambda1].as_vector_slice() } else { @@ -234,7 +234,7 @@ impl JointGenericVelocityConstraint { &self, mj_lambdas: &'a mut [DeltaVel], generic_mj_lambdas: &'a mut DVector, - ) -> DVectorSliceMut<'a, Real> { + ) -> DVectorViewMut<'a, Real> { if self.is_rigid_body1 { mj_lambdas[self.mj_lambda1].as_vector_slice_mut() } else { @@ -246,7 +246,7 @@ impl JointGenericVelocityConstraint { &self, mj_lambdas: &'a [DeltaVel], generic_mj_lambdas: &'a DVector, - ) -> DVectorSlice<'a, Real> { + ) -> DVectorView<'a, Real> { if self.is_rigid_body2 { mj_lambdas[self.mj_lambda2].as_vector_slice() } else { @@ -258,7 +258,7 @@ impl JointGenericVelocityConstraint { &self, mj_lambdas: &'a mut [DeltaVel], generic_mj_lambdas: &'a mut DVector, - ) -> DVectorSliceMut<'a, Real> { + ) -> DVectorViewMut<'a, Real> { if self.is_rigid_body2 { mj_lambdas[self.mj_lambda2].as_vector_slice_mut() } else { @@ -275,11 +275,11 @@ impl JointGenericVelocityConstraint { let jacobians = jacobians.as_slice(); let mj_lambda1 = self.mj_lambda1(mj_lambdas, generic_mj_lambdas); - let j1 = DVectorSlice::from_slice(&jacobians[self.j_id1..], self.ndofs1); + let j1 = DVectorView::from_slice(&jacobians[self.j_id1..], self.ndofs1); let vel1 = j1.dot(&mj_lambda1); let mj_lambda2 = self.mj_lambda2(mj_lambdas, generic_mj_lambdas); - let j2 = DVectorSlice::from_slice(&jacobians[self.j_id2..], self.ndofs2); + let j2 = DVectorView::from_slice(&jacobians[self.j_id2..], self.ndofs2); let vel2 = j2.dot(&mj_lambda2); let dvel = self.rhs + (vel2 - vel1); @@ -292,11 +292,11 @@ impl JointGenericVelocityConstraint { self.impulse = total_impulse; let mut mj_lambda1 = self.mj_lambda1_mut(mj_lambdas, generic_mj_lambdas); - let wj1 = DVectorSlice::from_slice(&jacobians[self.wj_id1()..], self.ndofs1); + let wj1 = DVectorView::from_slice(&jacobians[self.wj_id1()..], self.ndofs1); mj_lambda1.axpy(delta_impulse, &wj1, 1.0); let mut mj_lambda2 = self.mj_lambda2_mut(mj_lambdas, generic_mj_lambdas); - let wj2 = DVectorSlice::from_slice(&jacobians[self.wj_id2()..], self.ndofs2); + let wj2 = DVectorView::from_slice(&jacobians[self.wj_id2()..], self.ndofs2); mj_lambda2.axpy(-delta_impulse, &wj2, 1.0); } @@ -506,7 +506,7 @@ impl JointGenericVelocityGroundConstraint { &self, _mj_lambdas: &'a [DeltaVel], generic_mj_lambdas: &'a DVector, - ) -> DVectorSlice<'a, Real> { + ) -> DVectorView<'a, Real> { generic_mj_lambdas.rows(self.mj_lambda2, self.ndofs2) } @@ -514,7 +514,7 @@ impl JointGenericVelocityGroundConstraint { &self, _mj_lambdas: &'a mut [DeltaVel], generic_mj_lambdas: &'a mut DVector, - ) -> DVectorSliceMut<'a, Real> { + ) -> DVectorViewMut<'a, Real> { generic_mj_lambdas.rows_mut(self.mj_lambda2, self.ndofs2) } @@ -527,7 +527,7 @@ impl JointGenericVelocityGroundConstraint { let jacobians = jacobians.as_slice(); let mj_lambda2 = self.mj_lambda2(mj_lambdas, generic_mj_lambdas); - let j2 = DVectorSlice::from_slice(&jacobians[self.j_id2..], self.ndofs2); + let j2 = DVectorView::from_slice(&jacobians[self.j_id2..], self.ndofs2); let vel2 = j2.dot(&mj_lambda2); let dvel = self.rhs + vel2; @@ -540,7 +540,7 @@ impl JointGenericVelocityGroundConstraint { self.impulse = total_impulse; let mut mj_lambda2 = self.mj_lambda2_mut(mj_lambdas, generic_mj_lambdas); - let wj2 = DVectorSlice::from_slice(&jacobians[self.wj_id2()..], self.ndofs2); + let wj2 = DVectorView::from_slice(&jacobians[self.wj_id2()..], self.ndofs2); mj_lambda2.axpy(-delta_impulse, &wj2, 1.0); } -- cgit