1 files changed, 11 insertions, 0 deletions
diff --git a/src/dynamics/joint/joint.rs b/src/dynamics/joint/joint.rs
index fe77b4b..b4089ae 100644
--- a/src/dynamics/joint/joint.rs
+++ b/src/dynamics/joint/joint.rs
@@ -128,3 +128,14 @@ pub struct Joint {
     /// The joint geometric parameters and impulse.
     pub params: JointParams,
 }
+
+impl Joint {
+    pub fn supports_simd_constraints(&self) -> bool {
+        match &self.params {
+            JointParams::RevoluteJoint(joint) => joint.supports_simd_constraints(),
+            JointParams::PrismaticJoint(joint) => joint.supports_simd_constraints(),
+            JointParams::FixedJoint(joint) => joint.supports_simd_constraints(),
+            JointParams::BallJoint(joint) => joint.supports_simd_constraints(),
+        }
+    }
+}