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| author | Sébastien Crozet <developer@crozet.re> | 2022-04-20 12:29:57 +0200 |
|---|---|---|
| committer | Sébastien Crozet <sebastien@crozet.re> | 2022-04-20 19:02:49 +0200 |
| commit | f108520b5a110cf59864abac7ac6a37e2b5a1dd9 (patch) | |
| tree | 3ed03fbce2128e5eb04ca29d25b42717987eb424 /src/dynamics/solver/velocity_constraint_wide.rs | |
| parent | 2b1374c596957ac8cabe085859be3b823a1ba0c6 (diff) | |
| download | rapier-f108520b5a110cf59864abac7ac6a37e2b5a1dd9.tar.gz rapier-f108520b5a110cf59864abac7ac6a37e2b5a1dd9.tar.bz2 rapier-f108520b5a110cf59864abac7ac6a37e2b5a1dd9.zip | |
Finalize refactoring
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 16 |
1 files changed, 9 insertions, 7 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index 81c27fd..68246da 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -1,7 +1,9 @@ use super::{ AnyVelocityConstraint, DeltaVel, VelocityConstraintElement, VelocityConstraintNormalPart, }; -use crate::dynamics::{IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodyVelocity}; +use crate::dynamics::{ + IntegrationParameters, RigidBodyIds, RigidBodyMassProps, RigidBodySet, RigidBodyVelocity, +}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::math::{ AngVector, AngularInertia, Point, Real, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH, @@ -49,12 +51,12 @@ impl WVelocityConstraint { let handles1 = gather![|ii| manifolds[ii].data.rigid_body1.unwrap()]; let handles2 = gather![|ii| manifolds[ii].data.rigid_body2.unwrap()]; - let vels1: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)]; - let vels2: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)]; - let ids1: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)]; - let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)]; - let mprops1: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| bodies.index(handles1[ii].0)]; - let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| bodies.index(handles2[ii].0)]; + let vels1: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| &bodies[handles1[ii]].vels]; + let vels2: [&RigidBodyVelocity; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii]].vels]; + let ids1: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| &bodies[handles1[ii]].ids]; + let ids2: [&RigidBodyIds; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii]].ids]; + let mprops1: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| &bodies[handles1[ii]].mprops]; + let mprops2: [&RigidBodyMassProps; SIMD_WIDTH] = gather![|ii| &bodies[handles2[ii]].mprops]; let world_com1 = Point::from(gather![|ii| mprops1[ii].world_com]); let im1 = Vector::from(gather![|ii| mprops1[ii].effective_inv_mass]); |