diff options
Diffstat (limited to 'src/dynamics/solver/velocity_constraint_wide.rs')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_wide.rs | 4 |
1 files changed, 3 insertions, 1 deletions
diff --git a/src/dynamics/solver/velocity_constraint_wide.rs b/src/dynamics/solver/velocity_constraint_wide.rs index 8838011..97fa261 100644 --- a/src/dynamics/solver/velocity_constraint_wide.rs +++ b/src/dynamics/solver/velocity_constraint_wide.rs @@ -130,6 +130,8 @@ impl WVelocityConstraint { ); let point = Point::from(array![|ii| manifold_points[ii][k].point; SIMD_WIDTH]); let dist = SimdReal::from(array![|ii| manifold_points[ii][k].dist; SIMD_WIDTH]); + let tangent_velocity = + Vector::from(array![|ii| manifold_points[ii][k].tangent_velocity; SIMD_WIDTH]); let impulse = SimdReal::from(array![|ii| manifold_points[ii][k].data.impulse; SIMD_WIDTH]); @@ -181,7 +183,7 @@ impl WVelocityConstraint { let gcross2 = ii2.transform_vector(dp2.gcross(-tangents1[j])); let r = SimdReal::splat(1.0) / (im1 + im2 + gcross1.gdot(gcross1) + gcross2.gdot(gcross2)); - let rhs = (vel1 - vel2).dot(&tangents1[j]); + let rhs = (vel1 - vel2 + tangent_velocity).dot(&tangents1[j]); constraint.elements[k].tangent_parts[j] = WVelocityConstraintElementPart { gcross1, |