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/solver/interaction_groups.rs | 6 ++++++
 1 file changed, 6 insertions(+)

(limited to 'src/dynamics/solver/interaction_groups.rs')

diff --git a/src/dynamics/solver/interaction_groups.rs b/src/dynamics/solver/interaction_groups.rs
index 21cc642..0f01798 100644
--- a/src/dynamics/solver/interaction_groups.rs
+++ b/src/dynamics/solver/interaction_groups.rs
@@ -214,6 +214,12 @@ impl InteractionGroups {
                 continue;
             }
 
+            if !interaction.supports_simd_constraints() {
+                // This joint does not support simd constraints yet.
+                self.nongrouped_interactions.push(*interaction_i);
+                continue;
+            }
+
             let ijoint = interaction.params.type_id();
             let i1 = body1.active_set_offset;
             let i2 = body2.active_set_offset;
-- 
cgit