diff options
Diffstat (limited to 'src/dynamics/solver/interaction_groups.rs')
| -rw-r--r-- | src/dynamics/solver/interaction_groups.rs | 13 |
1 files changed, 7 insertions, 6 deletions
diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs index c6baea1..67cc805 100644 --- a/src/dynamics/solver/interaction_groups.rs +++ b/src/dynamics/solver/interaction_groups.rs @@ -216,12 +216,13 @@ impl InteractionGroups { ) where Bodies: ComponentSet<RigidBodyType> + ComponentSet<RigidBodyIds>, { - // NOTE: in 3D we have up to 10 different joint types. - // In 2D we only have 5 joint types. + // TODO: right now, we only sort based on the axes locked by the joint. + // We could also take motors and limits into account in the future (most of + // the SIMD constraints generation for motors and limits is already implemented). #[cfg(feature = "dim3")] - const NUM_JOINT_TYPES: usize = 10; + const NUM_JOINT_TYPES: usize = 64; #[cfg(feature = "dim2")] - const NUM_JOINT_TYPES: usize = 5; + const NUM_JOINT_TYPES: usize = 8; // The j-th bit of joint_type_conflicts[i] indicates that the // j-th bucket contains a joint with a type different than `i`. @@ -254,13 +255,13 @@ impl InteractionGroups { continue; } - if !interaction.supports_simd_constraints() { + if !interaction.data.supports_simd_constraints() { // This joint does not support simd constraints yet. self.nongrouped_interactions.push(*interaction_i); continue; } - let ijoint = interaction.params.type_id(); + let ijoint = interaction.data.locked_axes.bits() as usize; let i1 = ids1.active_set_offset; let i2 = ids2.active_set_offset; let conflicts = |