From dc8ccc0c30e75aea8f144dbfad16be088d4d4ea2 Mon Sep 17 00:00:00 2001
From: Crozet Sébastien <developer@crozet.re>
Date: Fri, 19 Feb 2021 17:32:09 +0100
Subject: Make revolute joint actuation work properly even when SIMD is
 enabled.

---
 src/dynamics/joint/revolute_joint.rs | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'src/dynamics/joint/revolute_joint.rs')

diff --git a/src/dynamics/joint/revolute_joint.rs b/src/dynamics/joint/revolute_joint.rs
index 9af0ae6..022779d 100644
--- a/src/dynamics/joint/revolute_joint.rs
+++ b/src/dynamics/joint/revolute_joint.rs
@@ -77,6 +77,12 @@ impl RevoluteJoint {
         }
     }
 
+    /// Can a SIMD constraint be used for resolving this joint?
+    pub fn supports_simd_constraints(&self) -> bool {
+        // SIMD revolute constraints don't support motors right now.
+        self.motor_max_impulse == 0.0 || (self.motor_stiffness == 0.0 && self.motor_damping == 0.0)
+    }
+
     pub fn configure_motor_model(&mut self, model: SpringModel) {
         self.motor_model = model;
     }
-- 
cgit