From dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2 Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Fri, 19 Feb 2021 17:32:09 +0100 Subject: Make revolute joint actuation work properly even when SIMD is enabled. --- src/dynamics/joint/joint.rs | 11 +++++++++++ 1 file changed, 11 insertions(+) (limited to 'src/dynamics/joint/joint.rs') diff --git a/src/dynamics/joint/joint.rs b/src/dynamics/joint/joint.rs index fe77b4b..b4089ae 100644 --- a/src/dynamics/joint/joint.rs +++ b/src/dynamics/joint/joint.rs @@ -128,3 +128,14 @@ pub struct Joint { /// The joint geometric parameters and impulse. pub params: JointParams, } + +impl Joint { + pub fn supports_simd_constraints(&self) -> bool { + match &self.params { + JointParams::RevoluteJoint(joint) => joint.supports_simd_constraints(), + JointParams::PrismaticJoint(joint) => joint.supports_simd_constraints(), + JointParams::FixedJoint(joint) => joint.supports_simd_constraints(), + JointParams::BallJoint(joint) => joint.supports_simd_constraints(), + } + } +} -- cgit