diff options
Diffstat (limited to 'src/dynamics/solver/position_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/position_constraint_wide.rs | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/src/dynamics/solver/position_constraint_wide.rs b/src/dynamics/solver/position_constraint_wide.rs index 3a3abb0..7df7d5e 100644 --- a/src/dynamics/solver/position_constraint_wide.rs +++ b/src/dynamics/solver/position_constraint_wide.rs @@ -8,7 +8,7 @@ use crate::math::{ use crate::utils::{WAngularInertia, WCross, WDot}; use num::Zero; -use simba::simd::{SimdBool as _, SimdComplexField, SimdPartialOrd, SimdValue}; +use simba::simd::{SimdBool as _, SimdPartialOrd, SimdValue}; pub(crate) struct WPositionConstraint { pub rb1: [usize; SIMD_WIDTH], @@ -55,10 +55,10 @@ impl WPositionConstraint { let rb1 = array![|ii| rbs1[ii].active_set_offset; SIMD_WIDTH]; let rb2 = array![|ii| rbs2[ii].active_set_offset; SIMD_WIDTH]; - let num_active_contacts = manifolds[0].num_active_contacts(); + let num_active_contacts = manifolds[0].data.num_active_contacts(); for l in (0..num_active_contacts).step_by(MAX_MANIFOLD_POINTS) { - let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..num_active_contacts]; SIMD_WIDTH]; + let manifold_points = array![|ii| &manifolds[ii].data.solver_contacts[l..]; SIMD_WIDTH]; let num_points = manifold_points[0].len().min(MAX_MANIFOLD_POINTS); let mut constraint = WPositionConstraint { |