updated Lively version

src-tauri/Cargo.toml

@@ -12,18 +12,21 @@ rust-version = "1.57"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [build-dependencies]
-tauri-build = { version = "1.1.1", features = [] }
+tauri-build = { version = "1.2.1", features = [] }
 
 [dependencies]
 serde_json = "1.0"
 serde = { version = "1.0", features = ["derive"] }
-tauri = { version = "1.1.1", features = ["api-all"] }
+tauri = { version = "1.2.4", features = ["api-all"] }
 thiserror = "1.0"
 lively = {git = "https://github.com/Wisc-HCI/lively", tag="1.0.0-rc.2"}
 game-loop = "0.9.1"
-urdf-rs = "0.6.4"
+urdf-rs = "0.6"
 nalgebra = { version = "0.31", features = ["serde-serialize-no-std"] }
 
+[patch.crates-io]
+k = {git = "https://github.com/AndrewJSchoen/k"}
+
 [features]
 # by default Tauri runs in production mode
 # when `tauri dev` runs it is executed with `cargo run --no-default-features` if `devPath` is an URL

src-tauri/src/main.rs

@@ -33,7 +33,7 @@ struct LivelyHandler {
   pub weights: HashMap<String,f64>,
   pub target_weights: HashMap<String,f64>,
   pub robot_info: Option<RobotInfo>,
-  pub root_bounds: Option<Vec<(f64, f64)>>,
+  pub root_bounds: Option<Vec<ScalarRange>>,
   pub shapes: Vec<Shape>,
   pub initial_time: Instant,
   pub shape_updates: Vec<ShapeUpdate>,
@@ -145,7 +145,7 @@ impl LivelyHandler {
     self.last_solved_state = None;
     match root_bounds {
       Some(bounds)=>{
-        self.root_bounds = Some(bounds);
+        self.root_bounds = Some(bounds.iter().map(|pair| ScalarRange::new(pair.0,pair.1)).collect());
       },
       None => {}
     }
@@ -196,7 +196,7 @@ impl LivelyHandler {
   }
 
   pub fn update_root_bounds(&mut self, root_bounds: Vec<(f64, f64)>) {
-    self.root_bounds = Some(root_bounds);
+    self.root_bounds = Some(root_bounds.iter().map(|pair| ScalarRange::new(pair.0,pair.1)).collect());
     // println!("Updating root bounds");
     self.update_solver();
     return;