diff options
Diffstat (limited to 'src/dynamics/solver/position_ground_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/position_ground_constraint_wide.rs | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/dynamics/solver/position_ground_constraint_wide.rs b/src/dynamics/solver/position_ground_constraint_wide.rs index e423c0a..1609709 100644 --- a/src/dynamics/solver/position_ground_constraint_wide.rs +++ b/src/dynamics/solver/position_ground_constraint_wide.rs @@ -32,8 +32,10 @@ impl WPositionGroundConstraint { out_constraints: &mut Vec<AnyPositionConstraint>, push: bool, ) { - let mut rbs1 = array![|ii| bodies.get(manifolds[ii].body_pair.body1).unwrap(); SIMD_WIDTH]; - let mut rbs2 = array![|ii| bodies.get(manifolds[ii].body_pair.body2).unwrap(); SIMD_WIDTH]; + let mut rbs1 = + array![|ii| bodies.get(manifolds[ii].data.body_pair.body1).unwrap(); SIMD_WIDTH]; + let mut rbs2 = + array![|ii| bodies.get(manifolds[ii].data.body_pair.body2).unwrap(); SIMD_WIDTH]; let mut flipped = [false; SIMD_WIDTH]; for ii in 0..SIMD_WIDTH { @@ -55,10 +57,10 @@ impl WPositionGroundConstraint { ); let delta1 = Isometry::from( - array![|ii| if flipped[ii] { manifolds[ii].delta2 } else { manifolds[ii].delta1 }; SIMD_WIDTH], + array![|ii| if flipped[ii] { manifolds[ii].data.delta2 } else { manifolds[ii].data.delta1 }; SIMD_WIDTH], ); let delta2 = Isometry::from( - array![|ii| if flipped[ii] { manifolds[ii].delta1 } else { manifolds[ii].delta2 }; SIMD_WIDTH], + array![|ii| if flipped[ii] { manifolds[ii].data.delta1 } else { manifolds[ii].data.delta2 }; SIMD_WIDTH], ); let radius1 = SimdFloat::from(array![|ii| manifolds[ii].kinematics.radius1; SIMD_WIDTH]); @@ -112,10 +114,10 @@ impl WPositionGroundConstraint { } } else { if manifolds[0].kinematics.category == KinematicsCategory::PointPoint { - out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] = + out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] = AnyPositionConstraint::GroupedPointPointGround(constraint); } else { - out_constraints[manifolds[0].constraint_index + l / MAX_MANIFOLD_POINTS] = + out_constraints[manifolds[0].data.constraint_index + l / MAX_MANIFOLD_POINTS] = AnyPositionConstraint::GroupedPlanePointGround(constraint); } } |