From c32da78f2a6014c491aa3e975fb83ddb7c80610e Mon Sep 17 00:00:00 2001 From: Crozet Sébastien Date: Mon, 26 Apr 2021 17:59:25 +0200 Subject: Split rigid-bodies and colliders into multiple components --- .../joint_constraint/generic_position_constraint_wide.rs | 13 +++++++++++-- 1 file changed, 11 insertions(+), 2 deletions(-) (limited to 'src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs') diff --git a/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs b/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs index 9ceea67..d44c761 100644 --- a/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs +++ b/src/dynamics/solver/joint_constraint/generic_position_constraint_wide.rs @@ -15,7 +15,11 @@ impl WGenericPositionConstraint { cparams: [&GenericJoint; SIMD_WIDTH], ) -> Self { Self { - constraints: array![|ii| GenericPositionConstraint::from_params(rbs1[ii], rbs2[ii], cparams[ii]); SIMD_WIDTH], + constraints: gather![|ii| GenericPositionConstraint::from_params( + rbs1[ii], + rbs2[ii], + cparams[ii] + )], } } @@ -39,7 +43,12 @@ impl WGenericPositionGroundConstraint { flipped: [bool; SIMD_WIDTH], ) -> Self { Self { - constraints: array![|ii| GenericPositionGroundConstraint::from_params(rbs1[ii], rbs2[ii], cparams[ii], flipped[ii]); SIMD_WIDTH], + constraints: gather![|ii| GenericPositionGroundConstraint::from_params( + rbs1[ii], + rbs2[ii], + cparams[ii], + flipped[ii] + )], } } -- cgit