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| author | Crozet Sébastien <developer@crozet.re> | 2020-12-08 17:31:49 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2020-12-29 11:31:00 +0100 |
| commit | 9bf1321f8f1d2e116f44c2461a53f302c4ef4171 (patch) | |
| tree | 8070529f4b48074fd40defb6062d6615dcdb61c5 /src/dynamics/solver/position_constraint_wide.rs | |
| parent | fd3b4801b63fd56369ff37bdc2e5189db159e8ff (diff) | |
| download | rapier-9bf1321f8f1d2e116f44c2461a53f302c4ef4171.tar.gz rapier-9bf1321f8f1d2e116f44c2461a53f302c4ef4171.tar.bz2 rapier-9bf1321f8f1d2e116f44c2461a53f302c4ef4171.zip | |
Outsource the contact manifold, SAT, and some shapes.
Diffstat (limited to 'src/dynamics/solver/position_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/position_constraint_wide.rs | 12 |
1 files changed, 6 insertions, 6 deletions
diff --git a/src/dynamics/solver/position_constraint_wide.rs b/src/dynamics/solver/position_constraint_wide.rs index 0633926..ecc0fc3 100644 --- a/src/dynamics/solver/position_constraint_wide.rs +++ b/src/dynamics/solver/position_constraint_wide.rs @@ -35,8 +35,8 @@ impl WPositionConstraint { out_constraints: &mut Vec<AnyPositionConstraint>, push: bool, ) { - let rbs1 = array![|ii| bodies.get(manifolds[ii].body_pair.body1).unwrap(); SIMD_WIDTH]; - let rbs2 = array![|ii| bodies.get(manifolds[ii].body_pair.body2).unwrap(); SIMD_WIDTH]; + let rbs1 = array![|ii| bodies.get(manifolds[ii].data.body_pair.body1).unwrap(); SIMD_WIDTH]; + let rbs2 = array![|ii| bodies.get(manifolds[ii].data.body_pair.body2).unwrap(); SIMD_WIDTH]; let im1 = SimdFloat::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]); let sqrt_ii1: AngularInertia<SimdFloat> = @@ -51,8 +51,8 @@ impl WPositionConstraint { let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]); let radius2 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius2; SIMD_WIDTH]); - let delta1 = Isometry::from(array![|ii| manifolds[ii].delta1; SIMD_WIDTH]); - let delta2 = Isometry::from(array![|ii| manifolds[ii].delta2; SIMD_WIDTH]); + let delta1 = Isometry::from(array![|ii| manifolds[ii].data.delta1; SIMD_WIDTH]); + let delta2 = Isometry::from(array![|ii| manifolds[ii].data.delta2; SIMD_WIDTH]); let rb1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH]; let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH]; @@ -100,10 +100,10 @@ impl WPositionConstraint { } } else { if manifolds[0].kinematics.category == KinematicsCategory::PointPoint { - out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] = + out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] = AnyPositionConstraint::GroupedPointPoint(constraint); } else { - out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] = + out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] = AnyPositionConstraint::GroupedPlanePoint(constraint); } } |