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| author | Sébastien Crozet <developer@crozet.re> | 2021-02-25 15:38:10 +0100 |
|---|---|---|
| committer | GitHub <noreply@github.com> | 2021-02-25 15:38:10 +0100 |
| commit | f41a6fb76d2a762e7d0680dec25e2a48b701606e (patch) | |
| tree | 641526f68ab04c1b60adc2570b32b8f36540cb18 /src/dynamics/solver/velocity_constraint_wide.rs | |
| parent | 8e40ab758d85f2dcb46b8346178abd13829961a5 (diff) | |
| parent | 9cdd34c741d6e45b7dcaf797c3704d1bc9dfeaae (diff) | |
| download | rapier-f41a6fb76d2a762e7d0680dec25e2a48b701606e.tar.gz rapier-f41a6fb76d2a762e7d0680dec25e2a48b701606e.tar.bz2 rapier-f41a6fb76d2a762e7d0680dec25e2a48b701606e.zip | |
Merge pull request #122 from dimforge/dominance
Implement dominance groups
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]; |