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