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Diffstat (limited to 'src/dynamics/joint/revolute_joint.rs')
| -rw-r--r-- | src/dynamics/joint/revolute_joint.rs | 6 |
1 files changed, 6 insertions, 0 deletions
diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs index 9af0ae6..022779d 100644 --- a/src/dynamics/joint/revolute_joint.rs +++ b/src/dynamics/joint/revolute_joint.rs @@ -77,6 +77,12 @@ impl RevoluteJoint { } } + /// Can a SIMD constraint be used for resolving this joint? + pub fn supports_simd_constraints(&self) -> bool { + // SIMD revolute constraints don't support motors right now. + self.motor_max_impulse == 0.0 || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0) + } + pub fn configure_motor_model(&mut self, model: SpringModel) { self.motor_model = model; } |