diff options
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 14 |
1 files changed, 8 insertions, 6 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index b86e6a6..a8384de 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -71,18 +71,20 @@ impl WVelocityConstraint { let rbs1 = array![|ii| &bodies[manifolds[ii].data.body_pair.body1]; SIMD_WIDTH]; let rbs2 = array![|ii| &bodies[manifolds[ii].data.body_pair.body2]; SIMD_WIDTH]; - let im1 = SimdReal::from(array![|ii| rbs1[ii].mass_properties.inv_mass; SIMD_WIDTH]); - let ii1: AngularInertia<SimdReal> = - AngularInertia::from(array![|ii| rbs1[ii].world_inv_inertia_sqrt; SIMD_WIDTH]); + let im1 = SimdReal::from(array![|ii| rbs1[ii].effective_inv_mass; SIMD_WIDTH]); + let ii1: AngularInertia<SimdReal> = AngularInertia::from( + array![|ii| rbs1[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH], + ); let linvel1 = Vector::from(array![|ii| rbs1[ii].linvel; SIMD_WIDTH]); let angvel1 = AngVector::<SimdReal>::from(array![|ii| rbs1[ii].angvel; SIMD_WIDTH]); let world_com1 = Point::from(array![|ii| rbs1[ii].world_com; SIMD_WIDTH]); - let im2 = SimdReal::from(array![|ii| rbs2[ii].mass_properties.inv_mass; SIMD_WIDTH]); - let 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 ii2: AngularInertia<SimdReal> = AngularInertia::from( + array![|ii| rbs2[ii].effective_world_inv_inertia_sqrt; SIMD_WIDTH], + ); let linvel2 = Vector::from(array![|ii| rbs2[ii].linvel; SIMD_WIDTH]); let angvel2 = AngVector::<SimdReal>::from(array![|ii| rbs2[ii].angvel; SIMD_WIDTH]); |