nichkara/rapier
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Outsource the contact manifold, SAT, and some shapes.

Browse Source
This commit is contained in:
Crozet Sébastien
2020-12-08 17:31:49 +01:00
parent fd3b4801b6
commit 9bf1321f8f
62 changed files with 552 additions and 2904 deletions
Download Patch File Download Diff File Expand all files Collapse all files

4
src/dynamics/solver/parallel_velocity_solver.rs
View File

@@ -247,13 +247,13 @@ impl ParallelVelocitySolverPart<AnyJointVelocityConstraint> {
VelocityConstraintDesc::NongroundGrouped(joint_id) => {
let joints = array![|ii| &joints_all[joint_id[ii]].weight; SIMD_WIDTH];
let constraint = AnyJointVelocityConstraint::from_wide_joint(params, *joint_id, joints, bodies);
self.constraints[joints[0].constraint_index] = constraint;
self.constraints[joints[0].data.constraint_index] = constraint;
}
#[cfg(feature = "simd-is-enabled")]
VelocityConstraintDesc::GroundGrouped(joint_id) => {
let joints = array![|ii| &joints_all[joint_id[ii]].weight; SIMD_WIDTH];
let constraint = AnyJointVelocityConstraint::from_wide_joint_ground(params, *joint_id, joints, bodies);
self.constraints[joints[0].constraint_index] = constraint;
self.constraints[joints[0].data.constraint_index] = constraint;
}
}
}