Merge pull request #195 from tpdickso/ungenerate-nans

Add feature flag to disable floating point exceptions in unexceptional code

1 files changed, 7 insertions, 1 deletions

diff --git a/src/dynamics/solver/velocity_constraint_element.rs b/src/dynamics/solver/velocity_constraint_element.rs
index 1324c35..d1ad6ac 100644
--- a/src/dynamics/solver/velocity_constraint_element.rs
+++ b/src/dynamics/solver/velocity_constraint_element.rs
@@ -99,7 +99,13 @@ impl<N: SimdRealField> VelocityConstraintTangentPart<N> {
                 self.impulse[0] - self.r[0] * dimpulse_0,
                 self.impulse[1] - self.r[1] * dimpulse_1,
             );
-            let new_impulse = new_impulse.simd_cap_magnitude(limit);
+            let new_impulse = {
+                let _disable_fe_except =
+                    crate::utils::DisableFloatingPointExceptionsFlags::
+                    disable_floating_point_exceptions();
+                new_impulse.simd_cap_magnitude(limit)
+            };
+
             let dlambda = new_impulse - self.impulse;
             self.impulse = new_impulse;