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| author | Crozet Sébastien <developer@crozet.re> | 2021-02-24 13:26:51 +0100 |
|---|---|---|
| committer | Crozet Sébastien <developer@crozet.re> | 2021-02-24 13:26:51 +0100 |
| commit | 96ecb877e290ad15459258a415aca64ca4af3a69 (patch) | |
| tree | ead6af02da8c021841dfe3f7ba5fa75e8339a12d /src/dynamics/solver/velocity_constraint_wide.rs | |
| parent | 3cc2738e5fdcb0d25818b550cdff93eab75f1b20 (diff) | |
| download | rapier-96ecb877e290ad15459258a415aca64ca4af3a69.tar.gz rapier-96ecb877e290ad15459258a415aca64ca4af3a69.tar.bz2 rapier-96ecb877e290ad15459258a415aca64ca4af3a69.zip | |
Implement dominance.
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 4 |
1 files changed, 4 insertions, 0 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index 97fa261..82a764e 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -67,6 +67,10 @@ impl WVelocityConstraint { out_constraints: &mut Vec<AnyVelocityConstraint>, push: bool, ) { + for ii in 0..SIMD_WIDTH { + assert_eq!(manifolds[ii].data.relative_dominance, 0); + } + let inv_dt = SimdReal::splat(params.inv_dt()); let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH]; let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH]; |