diff options
Diffstat (limited to 'src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs')
| -rw-r--r-- | src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs | 24 |
1 files changed, 8 insertions, 16 deletions
diff --git a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs index b9f3e52..ee176d6 100644 --- a/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs +++ b/src/dynamics/solver/contact_constraint/two_body_constraint_simd.rs @@ -292,21 +292,13 @@ impl TwoBodyConstraintSimd { solve_friction: bool, ) { let mut solver_vel1 = SolverVel { - linear: Vector::from(gather![ - |ii| solver_vels[self.solver_vel1[ii] as usize].linear - ]), - angular: AngVector::from(gather![ - |ii| solver_vels[self.solver_vel1[ii] as usize].angular - ]), + linear: Vector::from(gather![|ii| solver_vels[self.solver_vel1[ii]].linear]), + angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel1[ii]].angular]), }; let mut solver_vel2 = SolverVel { - linear: Vector::from(gather![ - |ii| solver_vels[self.solver_vel2[ii] as usize].linear - ]), - angular: AngVector::from(gather![ - |ii| solver_vels[self.solver_vel2[ii] as usize].angular - ]), + linear: Vector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].linear]), + angular: AngVector::from(gather![|ii| solver_vels[self.solver_vel2[ii]].angular]), }; TwoBodyConstraintElement::solve_group( @@ -325,12 +317,12 @@ impl TwoBodyConstraintSimd { ); for ii in 0..SIMD_WIDTH { - solver_vels[self.solver_vel1[ii] as usize].linear = solver_vel1.linear.extract(ii); - solver_vels[self.solver_vel1[ii] as usize].angular = solver_vel1.angular.extract(ii); + solver_vels[self.solver_vel1[ii]].linear = solver_vel1.linear.extract(ii); + solver_vels[self.solver_vel1[ii]].angular = solver_vel1.angular.extract(ii); } for ii in 0..SIMD_WIDTH { - solver_vels[self.solver_vel2[ii] as usize].linear = solver_vel2.linear.extract(ii); - solver_vels[self.solver_vel2[ii] as usize].angular = solver_vel2.angular.extract(ii); + solver_vels[self.solver_vel2[ii]].linear = solver_vel2.linear.extract(ii); + solver_vels[self.solver_vel2[ii]].angular = solver_vel2.angular.extract(ii); } } |