Merge pull request #195 from tpdickso/ungenerate-nans

Add feature flag to disable floating point exceptions in unexceptional code

3 files changed, 20 insertions, 3 deletions

diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs
index e15f2d8..90c574c 100644
--- a/src/dynamics/solver/velocity_constraint.rs
+++ b/src/dynamics/solver/velocity_constraint.rs
@@ -385,7 +385,13 @@ where
     let relative_linvel = linvel1 - linvel2;
     let mut tangent_relative_linvel =
         relative_linvel - force_dir1 * (force_dir1.dot(&relative_linvel));
-    let tangent_linvel_norm = tangent_relative_linvel.normalize_mut();
+
+    let tangent_linvel_norm = {
+        let _disable_fe_except =
+            crate::utils::DisableFloatingPointExceptionsFlags::disable_floating_point_exceptions();
+        tangent_relative_linvel.normalize_mut()
+    };
+
     let threshold: N::Element = na::convert(1.0e-4);
     let use_fallback = tangent_linvel_norm.simd_lt(N::splat(threshold));
     let tangent_fallback = force_dir1.orthonormal_vector();
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;
 
diff --git a/src/dynamics/solver/velocity_ground_constraint_element.rs b/src/dynamics/solver/velocity_ground_constraint_element.rs
index 8bcdc82..c4c6393 100644
--- a/src/dynamics/solver/velocity_ground_constraint_element.rs
+++ b/src/dynamics/solver/velocity_ground_constraint_element.rs
@@ -78,7 +78,12 @@ impl<N: SimdRealField> VelocityGroundConstraintTangentPart<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;