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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-19 17:32:09 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-19 17:32:09 +0100 |
| commit | dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2 (patch) | |
| tree | bdf50466616f449570713ca61f419aa04807d4b1 /src/dynamics/joint/joint.rs | |
| parent | e9f17f32e8dda4b97d2eb7b2118b7373d0c554d0 (diff) | |
| download | rapier-dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2.tar.gz rapier-dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2.tar.bz2 rapier-dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2.zip | |
Make revolute joint actuation work properly even when SIMD is enabled.
Diffstat (limited to 'src/dynamics/joint/joint.rs')
| -rw-r--r-- | src/dynamics/joint/joint.rs | 11 |
1 files changed, 11 insertions, 0 deletions
diff --git a/src/dynamics/joint/joint.rs b/src/dynamics/joint/joint.rs index fe77b4b..b4089ae 100644 --- a/src/dynamics/joint/joint.rs +++ b/src/dynamics/joint/joint.rs @@ -128,3 +128,14 @@ pub struct Joint { /// The joint geometric parameters and impulse. pub params: JointParams, } + +impl Joint { + pub fn supports_simd_constraints(&self) -> bool { + match &self.params { + JointParams::RevoluteJoint(joint) => joint.supports_simd_constraints(), + JointParams::PrismaticJoint(joint) => joint.supports_simd_constraints(), + JointParams::FixedJoint(joint) => joint.supports_simd_constraints(), + JointParams::BallJoint(joint) => joint.supports_simd_constraints(), + } + } +} |