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Diffstat (limited to 'src/dynamics/solver/position_ground_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/position_ground_constraint_wide.rs | 7 |
1 files changed, 4 insertions, 3 deletions
diff --git a/src/dynamics/solver/position_ground_constraint_wide.rs b/src/dynamics/solver/position_ground_constraint_wide.rs index c6f1c3f..f52b3f4 100644 --- a/src/dynamics/solver/position_ground_constraint_wide.rs +++ b/src/dynamics/solver/position_ground_constraint_wide.rs @@ -45,9 +45,10 @@ impl WPositionGroundConstraint { } } - let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]); - let sqrt_ii2: AngularInertia<SimdReal> = - AngularInertia::from(array![|ii| rbs2[ii].world_inv_inertia_sqrt; SIMD_WIDTH]); + let im2 = SimdReal::from(array![|ii| rbs2[ii].effective_inv_mass; SIMD_WIDTH]); + let sqrt_ii2: AngularInertia<SimdReal> = AngularInertia::from( + array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH], + ); let n1 = Vector::from( array![|ii| if flipped[ii] { -manifolds[ii].data.normal } else { manifolds[ii].data.normal }; SIMD_WIDTH], |