diff options
Diffstat (limited to 'src/dynamics/solver')
| -rw-r--r-- | src/dynamics/solver/interaction_groups.rs | 8 |
1 files changed, 5 insertions, 3 deletions
diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs index d806251..2bcbacc 100644 --- a/src/dynamics/solver/interaction_groups.rs +++ b/src/dynamics/solver/interaction_groups.rs @@ -431,14 +431,14 @@ impl InteractionGroups { let data: (_, &RigidBodyIds) = bodies.index_bundle(rb1.0); (*data.0, data.1.active_set_offset) } else { - (RigidBodyType::Fixed, 0) + (RigidBodyType::Fixed, usize::MAX) }; let (status2, active_set_offset2) = if let Some(rb2) = interaction.data.rigid_body2 { let data: (_, &RigidBodyIds) = bodies.index_bundle(rb2.0); (*data.0, data.1.active_set_offset) } else { - (RigidBodyType::Fixed, 0) + (RigidBodyType::Fixed, usize::MAX) }; let is_fixed1 = !status1.is_dynamic(); @@ -451,7 +451,9 @@ impl InteractionGroups { let i1 = active_set_offset1; let i2 = active_set_offset2; - let conflicts = self.body_masks[i1] | self.body_masks[i2]; + let mask1 = if !is_fixed1 { self.body_masks[i1] } else { 0 }; + let mask2 = if !is_fixed2 { self.body_masks[i2] } else { 0 }; + let conflicts = mask1 | mask2; let conflictfree_targets = !(conflicts & occupied_mask); // The & is because we consider empty buckets as free of conflicts. let conflictfree_occupied_targets = conflictfree_targets & occupied_mask; |