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This commit is contained in:
Terence
2021-06-01 20:41:38 -04:00
parent 3bac79ecac
commit 94993901cd
8 changed files with 67 additions and 3 deletions
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8
src/dynamics/solver/velocity_constraint.rs
View File

@@ -385,7 +385,13 @@ where
let relative_linvel = linvel1 - linvel2;
let mut tangent_relative_linvel =
relative_linvel - force_dir1 * (force_dir1.dot(&relative_linvel));
let tangent_linvel_norm = tangent_relative_linvel.normalize_mut();
let tangent_linvel_norm = {
let _disable_fe_except =
crate::utils::DisableFloatingPointExceptionsFlags::disable_floating_point_exceptions();
tangent_relative_linvel.normalize_mut()
};
let threshold: N::Element = na::convert(1.0e-4);
let use_fallback = tangent_linvel_norm.simd_lt(N::splat(threshold));
let tangent_fallback = force_dir1.orthonormal_vector();

8
src/dynamics/solver/velocity_constraint_element.rs
View File

@@ -99,7 +99,13 @@ impl<N: SimdRealField> VelocityConstraintTangentPart<N> {
self.impulse[0] - self.r[0] * dimpulse_0,
self.impulse[1] - self.r[1] * dimpulse_1,
);
let new_impulse = new_impulse.simd_cap_magnitude(limit);
let new_impulse = {
let _disable_fe_except =
crate::utils::DisableFloatingPointExceptionsFlags::
disable_floating_point_exceptions();
new_impulse.simd_cap_magnitude(limit)
};
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;

7
src/dynamics/solver/velocity_ground_constraint_element.rs
View File

@@ -78,7 +78,12 @@ impl<N: SimdRealField> VelocityGroundConstraintTangentPart<N> {
self.impulse[0] - self.r[0] * dimpulse_0,
self.impulse[1] - self.r[1] * dimpulse_1,
);
let new_impulse = new_impulse.simd_cap_magnitude(limit);
let new_impulse = {
let _disable_fe_except =
crate::utils::DisableFloatingPointExceptionsFlags::
disable_floating_point_exceptions();
new_impulse.simd_cap_magnitude(limit)
};
let dlambda = new_impulse - self.impulse;
self.impulse = new_impulse;