From f58b4f7c195ab7acf0778ea65c46ebf37ac8188c Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 21 Apr 2024 18:55:11 +0200
Subject: feat: add warmstarting to contact constraints resolution

---
 src/lib.rs | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'src/lib.rs')

diff --git a/src/lib.rs b/src/lib.rs
index 304c0c0..9346b9e 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -166,6 +166,9 @@ pub mod math {
     #[cfg(feature = "dim2")]
     pub type JacobianViewMut<'a, N> = na::MatrixViewMut3xX<'a, N>;
 
+    #[cfg(feature = "dim2")]
+    pub type TangentImpulse<N> = na::Vector1<N>;
+
     /// The maximum number of possible rotations and translations of a rigid body.
     #[cfg(feature = "dim2")]
     pub const SPATIAL_DIM: usize = 3;
@@ -195,6 +198,9 @@ pub mod math {
     #[cfg(feature = "dim3")]
     pub type JacobianViewMut<'a, N> = na::MatrixViewMut6xX<'a, N>;
 
+    #[cfg(feature = "dim3")]
+    pub type TangentImpulse<N> = na::Vector2<N>;
+
     /// The maximum number of possible rotations and translations of a rigid body.
     #[cfg(feature = "dim3")]
     pub const SPATIAL_DIM: usize = 6;
-- 
cgit 


From 0a9153e273dc0bdd4ba6443bd7f4dcfc671faac3 Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sun, 28 Apr 2024 18:23:30 +0200
Subject: chore: clippy fixes

---
 src/lib.rs | 2 ++
 1 file changed, 2 insertions(+)

(limited to 'src/lib.rs')

diff --git a/src/lib.rs b/src/lib.rs
index 9346b9e..32e1541 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -166,6 +166,7 @@ pub mod math {
     #[cfg(feature = "dim2")]
     pub type JacobianViewMut<'a, N> = na::MatrixViewMut3xX<'a, N>;
 
+    /// The type of impulse applied for friction constraints.
     #[cfg(feature = "dim2")]
     pub type TangentImpulse<N> = na::Vector1<N>;
 
@@ -198,6 +199,7 @@ pub mod math {
     #[cfg(feature = "dim3")]
     pub type JacobianViewMut<'a, N> = na::MatrixViewMut6xX<'a, N>;
 
+    /// The type of impulse applied for friction constraints.
     #[cfg(feature = "dim3")]
     pub type TangentImpulse<N> = na::Vector2<N>;
 
-- 
cgit 


From 4737a961696a5e058ac51958ae3d5fad5a43f5ca Mon Sep 17 00:00:00 2001
From: Sébastien Crozet <sebcrozet@dimforge.com>
Date: Sat, 25 May 2024 11:11:21 +0200
Subject: fix: allow enexpected_cfgs

---
 src/lib.rs | 1 +
 1 file changed, 1 insertion(+)

(limited to 'src/lib.rs')

diff --git a/src/lib.rs b/src/lib.rs
index 32e1541..5c660ba 100644
--- a/src/lib.rs
+++ b/src/lib.rs
@@ -15,6 +15,7 @@
 #![allow(clippy::too_many_arguments)]
 #![allow(clippy::needless_range_loop)] // TODO: remove this? I find that in the math code using indices adds clarity.
 #![allow(clippy::module_inception)]
+#![allow(unexpected_cfgs)] // This happens due to the dim2/dim3/f32/f64 cfg.
 
 #[cfg(all(feature = "dim2", feature = "f32"))]
 pub extern crate parry2d as parry;
-- 
cgit