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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/solver/interaction_groups.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/solver/interaction_groups.rs')
| -rw-r--r-- | src/dynamics/solver/interaction_groups.rs | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs index 21cc642..0f01798 100644 --- a/src/dynamics/solver/interaction_groups.rs +++ b/src/dynamics/solver/interaction_groups.rs @@ -214,6 +214,12 @@ impl InteractionGroups { continue; } + if !interaction.supports_simd_constraints() { + // This joint does not support simd constraints yet. + self.nongrouped_interactions.push(*interaction_i); + continue; + } + let ijoint = interaction.params.type_id(); let i1 = body1.active_set_offset; let i2 = body2.active_set_offset; |