diff options
Diffstat (limited to 'src/dynamics')
| -rw-r--r-- | src/dynamics/solver/velocity_constraint.rs | 8 | ||||
| -rw-r--r-- | src/dynamics/solver/velocity_constraint_element.rs | 8 | ||||
| -rw-r--r-- | src/dynamics/solver/velocity_ground_constraint_element.rs | 7 |
3 files changed, 20 insertions, 3 deletions
diff --git a/src/dynamics/solver/velocity_constraint.rs b/src/dynamics/solver/velocity_constraint.rs index e15f2d8..90c574c 100644 --- a/src/dynamics/solver/velocity_constraint.rs +++ b/src/dynamics/solver/velocity_constraint.rs @@ -385,7 +385,13 @@ where let relative_linvel = linvel1 - linvel2; let mut tangent_relative_linvel = relative_linvel - force_dir1 * (force_dir1.dot(&relative_linvel)); - let tangent_linvel_norm = tangent_relative_linvel.normalize_mut(); + + let tangent_linvel_norm = { + let _disable_fe_except = + crate::utils::DisableFloatingPointExceptionsFlags::disable_floating_point_exceptions(); + tangent_relative_linvel.normalize_mut() + }; + let threshold: N::Element = na::convert(1.0e-4); let use_fallback = tangent_linvel_norm.simd_lt(N::splat(threshold)); let tangent_fallback = force_dir1.orthonormal_vector(); diff --git a/src/dynamics/solver/velocity_constraint_element.rs b/src/dynamics/solver/velocity_constraint_element.rs index 1324c35..d1ad6ac 100644 --- a/src/dynamics/solver/velocity_constraint_element.rs +++ b/src/dynamics/solver/velocity_constraint_element.rs @@ -99,7 +99,13 @@ impl<N: SimdRealField> VelocityConstraintTangentPart<N> { self.impulse[0] - self.r[0] * dimpulse_0, self.impulse[1] - self.r[1] * dimpulse_1, ); - let new_impulse = new_impulse.simd_cap_magnitude(limit); + let new_impulse = { + let _disable_fe_except = + crate::utils::DisableFloatingPointExceptionsFlags:: + disable_floating_point_exceptions(); + new_impulse.simd_cap_magnitude(limit) + }; + let dlambda = new_impulse - self.impulse; self.impulse = new_impulse; diff --git a/src/dynamics/solver/velocity_ground_constraint_element.rs b/src/dynamics/solver/velocity_ground_constraint_element.rs index 8bcdc82..c4c6393 100644 --- a/src/dynamics/solver/velocity_ground_constraint_element.rs +++ b/src/dynamics/solver/velocity_ground_constraint_element.rs @@ -78,7 +78,12 @@ impl<N: SimdRealField> VelocityGroundConstraintTangentPart<N> { self.impulse[0] - self.r[0] * dimpulse_0, self.impulse[1] - self.r[1] * dimpulse_1, ); - let new_impulse = new_impulse.simd_cap_magnitude(limit); + let new_impulse = { + let _disable_fe_except = + crate::utils::DisableFloatingPointExceptionsFlags:: + disable_floating_point_exceptions(); + new_impulse.simd_cap_magnitude(limit) + }; let dlambda = new_impulse - self.impulse; self.impulse = new_impulse; |