diff options
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 7 |
1 files changed, 3 insertions, 4 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index fddd9ef..c75d926 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -2,8 +2,7 @@ use super::{AnyVelocityConstraint, DeltaVel}; use crate::dynamics::{IntegrationParameters, RigidBodySet}; use crate::geometry::{ContactManifold, ContactManifoldIndex}; use crate::math::{ - AngVector, AngularInertia, Isometry, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, - SIMD_WIDTH, + AngVector, AngularInertia, Point, SimdReal, Vector, DIM, MAX_MANIFOLD_POINTS, SIMD_WIDTH, }; use crate::utils::{WAngularInertia, WBasis, WCross, WDot}; use num::Zero; @@ -100,7 +99,7 @@ impl WVelocityConstraint { let warmstart_multiplier = SimdReal::from(array![|ii| manifolds[ii].data.warmstart_multiplier; SIMD_WIDTH]); let warmstart_coeff = warmstart_multiplier * SimdReal::splat(params.warmstart_coeff); - 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| @@ -333,7 +332,7 @@ impl WVelocityConstraint { for ii in 0..SIMD_WIDTH { let manifold = &mut manifolds_all[self.manifold_id[ii]]; let k_base = self.manifold_contact_id; - let active_contacts = manifold.active_contacts_mut(); + let active_contacts = &mut manifold.points[..manifold.data.num_active_contacts()]; active_contacts[k_base + k].data.impulse = impulses[ii]; #[cfg(feature = "dim2")] |