Split rigid-bodies and colliders into multiple components

1 files changed, 11 insertions, 2 deletions

diff --git a/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs b/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs
index 9ceea67..d44c761 100644
--- a/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs
+++ b/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs
@@ -15,7 +15,11 @@ impl WGenericPositionConstraint {
         cparams: [&GenericJoint; SIMD_WIDTH],
     ) -> Self {
         Self {
-            constraints: array![|ii| GenericPositionConstraint::from_params(rbs1[ii], rbs2[ii], cparams[ii]); SIMD_WIDTH],
+            constraints: gather![|ii| GenericPositionConstraint::from_params(
+                rbs1[ii],
+                rbs2[ii],
+                cparams[ii]
+            )],
         }
     }
 
@@ -39,7 +43,12 @@ impl WGenericPositionGroundConstraint {
         flipped: [bool; SIMD_WIDTH],
     ) -> Self {
         Self {
-            constraints: array![|ii| GenericPositionGroundConstraint::from_params(rbs1[ii], rbs2[ii], cparams[ii], flipped[ii]); SIMD_WIDTH],
+            constraints: gather![|ii| GenericPositionGroundConstraint::from_params(
+                rbs1[ii],
+                rbs2[ii],
+                cparams[ii],
+                flipped[ii]
+            )],
         }
     }